نظم القيادة الآلية

‫ﻧﻈﻢ ﺍﻟﻘﻴﺎﺩﺓ ﺍﻵﻟﻴﺔ )‪(1‬‬
‫ﺍﳉﺰء ﺍﻟﻌﻤﻠﻲ‬
‫
‬
‫ ‬
‫ﻧﻈﻢ ﺍﻟﻘﻴﺎﺩﺓ ﺍﻵﻟﻴﺔ )‪(1‬‬

‫ﺍﳉﺰء ﺍﻟﻌﻤﻠﻲ‬
‫ ‬ ‫ ‬

‫‪01 #2‬‬ ‫&‪!" #$ %‬‬
‫‪ )*+ , -".‬‬ ‫(' "‪ )*+ , -". / $‬‬
‫ﻣﺪﻳﺮﻳﺔ ﺍﻟﻜﺘﺐ ﻭﺍﳌﻄﺒﻮﻋﺎﺕ ﺍﳉﺎﻣﻌﻴﺔ‬ ‫ﻟﻄﻼﺏ ﺍﻟﺴﻨﺔ ﺍﳋﺎﻣﺴﺔ‬

‫‪ ٢٠١٢‬م‬
‫‪ ١٤٣٣‬هـ ‪٢٠١٢ -‬‬
‫‪١٤٣٣‬‬ ‫ﻗﺴﻢ ﻫﻨﺪﺳﺔ ﺍﻟﻘﻴﺎﺩﺓ ﺍﻟﻜﻬﺮﺑﺎﺋﻴﺔ‬
‫ﺍﻟﻔﻬﺮﺱ‬
‫ﺍﻟﺼﻔﺤﺔ‬ ‫ﺍﳌﻮﺿﻮﻉ‬
‫ﺍﳉﻠﺴﺔ ﺍﻷﻭﱃ ‪ -‬ﺩﺭﺍﺳﺔ ﺍﺳﺘﺠﺎﺑﺔ ﺗﻮﺍﺑﻊ ﺍﻟﻨﻘﻞ ﻣﻦ ﺍﳌﺮﺗﺒﺔ ﺍﻷﻭﱃ ‪-‬‬

‫‪15‬‬ ‫‪ 1-1‬‬
‫‪15‬‬ ‫‪
2-1‬‬
‫‪16‬‬ ‫‪MATLAB/Simulink
3-1‬‬
‫‪16‬‬ ‫‪MATLAB/Simulink !" #$% 1-3-1‬‬
‫‪16‬‬ ‫‪&$' () &*+, -. / 0+ 1'2 2 *) 1-1-3-1‬‬
‫‪23‬‬ ‫‪34 () &*+, -. / 0+ 1'2 2 *) 2-1-3-1‬‬
‫‪26‬‬ ‫‪56 4-1‬‬
‫‪26‬‬ ‫‪78 5-1‬‬
‫ﺍﳉﻠﺴﺔ ﺍﻟﺜﺎﻧﻴﺔ ‪ -‬ﺗﻨﻈﻴﻢ ﺍﳋﺮﺝ ﰲ ﺗﻮﺍﺑﻊ ﺍﻟﻨﻘﻞ ﻣﻦ ﺍﳌﺮﺗﺒﺔ ﺍﻷﻭﱃ ‪-‬‬
‫‪27‬‬ ‫‪ 1-2‬‬
‫‪27‬‬ ‫‪:2' #9 2-2‬‬
‫‪29‬‬ ‫‪:=' < ;2' #9 3-2‬‬
‫‪33‬‬ ‫‪:>. #9 4-2‬‬
‫‪36‬‬ ‫‪:>. #9 A( #B C@? 1-4-2‬‬
‫‪37‬‬ ‫‪DE (F G C@? 2-4-2‬‬
‫‪39‬‬ ‫‪H. &/ I/ C@? 3-4-2‬‬
‫‪40‬‬ ‫‪:>L M 0* NO ;2 #9J :>. #9 &?K= 4-4-2‬‬
‫‪41‬‬ ‫‪56 5-2‬‬
‫‪42‬‬ ‫‪78 6-2‬‬
‫ﺍﳉﻠﺴﺔ ﺍﻟﺜﺎﻟﺜﺔ ‪ -‬ﺗﻨﻈﻴﻢ ﺍﻟﺴﺮﻋﺔ ﰲ ﳏﺮﻛﺎﺕ ﺍﻟﺘﻴﺎﺭ ﺍﳌﺴﺘﻤﺮ‬
‫ﺑﺪﻭﻥ ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ ‪-‬‬
‫‪٥‬‬
‫‪43‬‬ ‫‪ 1-3‬‬
‫‪43‬‬ ‫‪' PQ NO $' * RS 2-3‬‬
‫‪47‬‬ ‫‪PI D$9 V W'2 IT' * #9 U / #9 3-3‬‬
‫‪47‬‬ ‫‪ X. 1-3-3‬‬
‫‪53‬‬ ‫‪4Y X. 2-3-3‬‬
‫‪57‬‬ ‫‪YY X. 3-3-3‬‬
‫‪61‬‬ ‫‪:>. #9 V W'2 *' #9 U / #9 4-3‬‬
‫‪63‬‬ ‫‪56 5-3‬‬
‫‪65‬‬ ‫‪78 6-3‬‬
‫ﺍﳉﻠﺴﺔ ﺍﻟﺮﺍﺑﻌﺔ ‪ -‬ﺗﻨﻈﻴﻢ ﺍﻟﺴﺮﻋﺔ ﰲ ﳏﺮﻛﺎﺕ ﺍﻟﺘﻴﺎﺭ ﺍﳌﺴﺘﻤﺮ‬
‫ﻣﻊ ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ ‪-‬‬

‫‪67‬‬ ‫‪ 1-4‬‬
‫‪67‬‬ ‫‪PI D$9 V W'2 IT' * #9
/ #9 2-4‬‬
‫‪72‬‬ ‫‪*' )S ) *' #9
/ #9 3-4‬‬
‫‪76‬‬ ‫‪=" E / -. / *' #9
/ #9 4-4‬‬
‫'*‪A‬‬
‫‪84‬‬ ‫‪R\ H )F *' #9 Z @ C[ @F 5-4‬‬
‫‪87‬‬ ‫‪56 6-4‬‬
‫‪87‬‬ ‫‪78 7-4‬‬
‫ﺍﳉﻠﺴﺔ ﺍﳋﺎﻣﺴﺔ ‪ -‬ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ ﰲ ﳏﺮﻛﺎﺕ ﺍﻟﺘﻴﺎﺭ ﺍﳌﺴﺘﻤﺮ‬
‫ﺑﺎﺳﺘﺨﺪﺍﻡ ﺍﳌﻨﻈﻤﺎﺕ ﺍﻟﺒﻄﺎﺋﻴﺔ ‪-‬‬

‫‪89‬‬ ‫‪ 1-5‬‬
‫‪89‬‬ ‫‪:>. #9 ]/ )$'/M *' #9 2-5‬‬
‫‪96‬‬ ‫‪:>. #9 V W'2 *' P-PI #9 V W'2 / #9 3-5‬‬
‫‪٦‬‬
‫‪103‬‬ ‫‪56 4-5‬‬
‫‪103‬‬ ‫‪78 5-5‬‬
‫ﺍﳉﻠﺴﺔ ﺍﻟﺴﺎﺩﺳﺔ ‪ -‬ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ ﰲ ﳏﺮﻛﺎﺕ ﺍﻟﺘﻴﺎﺭ ﺍﳌﺴﺘﻤﺮ‬
‫ﺑﺎﺳﺘﺨﺪﺍﻡ ﻧﻈﺮﻳﺔ ﺍﻟﻨﻤﻂ ﺍﻻﻧﺰﻻﻗﻲ ‪-‬‬

‫‪105‬‬ ‫‪ 1-6‬‬
‫‪106‬‬ ‫‪:BM^4M _$ #9 V W'2 *' #9 2-6‬‬
‫‪102‬‬ ‫‪_$ #9 V W'2 *' P-PI #9 V W'2 / #9 3-6‬‬
‫ ‪:BM^4M‬‬
‫‪116‬‬ ‫‪56 4-6‬‬
‫‪116‬‬ ‫‪78 5-6‬‬
‫ﺍﳉﻠﺴﺔ ﺍﻟﺴﺎﺑﻌﺔ – ﺍﻟﺘﻤﺜﻴﻞ ﺍﻟﺮﻗﻤﻲ ﻷﻧﻈﻤﺔ ﺍﻟﻘﻴﺎﺩﺓ ﺍﻟﻜﻬﺮﺑﺎﺋﻴﺔ ‪-‬‬
‫‪117‬‬ ‫‪ 1-7‬‬
‫‪118‬‬ ‫‪ 4
' :$B Y$' 2-7‬‬
‫‪121‬‬ ‫‪N` V9 :$B* 4
Y5 3-7‬‬
‫‪126‬‬ ‫‪:=' – ;2' #9$ :$B Y$' 4-7‬‬
‫‪128‬‬ ‫‪:>. #9$ :$B Y$' 5-7‬‬
‫‪132‬‬ ‫‪56 6-7‬‬
‫‪133‬‬ ‫‪78 7-7‬‬
‫ﺍﳉﻠﺴﺔ ﺍﻟﺜﺎﻣﻨﺔ ‪ -‬ﳏﺎﻛﺎﺓ ﻣﺒﺪﻟﺔ ﺍﳉﻬﺪ ﺿﻤﻦ ﻧﻈﺎﻡ ﻗﻴﺎﺩﺓ‬
‫ﳏﺮﻙ ﺍﻟﺘﻴﺎﺭ ﺍﳌﺴﺘﻤﺮ ‪-‬‬

‫‪135‬‬ ‫‪ 1-8‬‬
‫‪136‬‬ ‫‪E* !* $E X*'2^4 ' b 2-8‬‬
‫‪137‬‬ ‫‪X*'2^4 ' b 1-2-8‬‬
‫‪138‬‬ ‫‪cb c )c $'c *' RS &)B V94 &dS 3-8‬‬
‫‪٧‬‬
‫ ' ‪E* !* $E e X*'2^4‬‬
‫‪144‬‬ ‫‪cb c )c $'c *' RS &)B V94 &dS 4-8‬‬
‫ ' ‪&C[' &.6 Xf -K X*'2^4‬‬
‫‪149‬‬ ‫‪:$E -.' 5-8‬‬
‫‪150‬‬ ‫‪$E % D4= 1-5-8‬‬
‫‪152‬‬ ‫‪/ (_h) C[ < 1' 2-5-8‬‬
‫‪152‬‬ ‫‪ 1' D .( 1-2-5-8‬‬
‫‪155‬‬ ‫‪*' #9 U / #9 < 4Y 1' 3-5-8‬‬
‫‪155‬‬ ‫‪4Y 1' D .( 1-3-5-8‬‬
‫‪157‬‬ ‫‪*' #9
/ #9 < YY 1' 4-5-8‬‬
‫‪157‬‬ ‫‪YY 1' D .( 1-4-5-8‬‬
‫‪157‬‬ ‫‪56 6-8‬‬
‫‪159‬‬ ‫‪78 7-8‬‬
‫ﺍﳉﻠﺴﺔ ﺍﻟﺘﺎﺳﻌﺔ ‪ -‬ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ ﰲ ﳏﺮﻛﺎﺕ ﺍﻟﺘﻴﺎﺭ ﺍﳌﺴﺘﻤﺮ‬
‫ﺑﺎﺳﺘﺨﺪﺍﻡ ﻣﻨﻈﻢ ﺍﳌﻨﻄﻖ ﺍﻟﻌﺎﺋﻢ ‪-‬‬

‫‪161‬‬ ‫‪ 1-9‬‬
‫‪162‬‬ ‫‪#>E -. #9 V W'2 *' #9 2-9‬‬
‫‪176‬‬ ‫‪-. #9 V W'2 *' P-PI #9 V W'2 / #9 3-9‬‬
‫ ‪#>E‬‬
‫‪179‬‬ ‫‪56 4-9‬‬
‫‪180‬‬ ‫‪78 5-9‬‬
‫ﺍﳉﻠﺴﺔ ﺍﻟﻌﺎﺷﺮﺓ ‪ -‬ﺗﻨﻈﻴﻢ ﺍﻟﺴﺮﻋﺔ ﰲ ﳏﺮﻛﺎﺕ ﺍﻟﺘﻴﺎﺭ ﺍﳌﺴﺘﻤﺮ‬
‫ﺑﺪﻭﻥ ﺣﺴﺎﺱ ﺳﺮﻋﺔ ‪-‬‬

‫‪181‬‬ ‫‪ 1-10‬‬
‫‪٨‬‬
182 `'7 j D$k V W'2 / l$m 2-10
187 [ j D$k V W'2 / l$m 3-10
192 b ) / l$m 4-10
192 b ) [ j NO / $k &dS 1-4-10
194 b ) `'7 j NO / $k &dS 2-4-10
197 56 5-10
198 78 6-10
199 $E

201 $E DT.%
٩
١٠

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:3&* 2J (S! >K 6&2( 5,&A +=( /! l b*
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" (+ {6G- 6&2( K {- 2J MATLAB/Simulink _6" /24
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=" 6UA+ (+, y6
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.MATLAB/Simulink _6" /24 {G I" 6L6J 6" {QU y
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# 6Q"+< 8K6% 2G 2< 6L e1
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VQ+= 8 % 56+ { 56%- 6Q"+< 5CrJ 8( u )2h
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١٣
١٤
‫ﺍﳉﻠﺴﺔ ﺍﻷﻭﱃ‬
‫ﺩﺭﺍﺳﺔ ﺍﺳﺘﺠﺎﺑﺔ ﺗﻮﺍﺑﻊ ﺍﻟﻨﻘﻞ ﻣﻦ ﺍﳌﺮﺗﺒﺔ ﺍﻷﻭﱃ‬
RESPONSE ANALYSIS OF FIRST-ORDER
TRANSFER FUNCTIONS
SESSION PURPOSE :‫ ﻫﺪﻑ ﺍﳉﻠﺴﺔ‬1-1

%&
! "#$
01%2 3%4 5 * 6,' 7+ 89:+ ); -,./ "$' '( )*+
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%E1 B& ! .MATLAB/Simulink B @'C 6.# D-*
6R& 'S . ); 6-4 * MN OP-: "<Q* 6J-K LH-8 I- ->F G
.T8 M
:‫ ﺗﻮﺍﺑﻊ ﺍﻟﻨﻘﻞ ﻣﻦ ﺍﳌﺮﺗﺒﺔ ﺍﻷﻭﱃ‬2-1
FIRST-ORDER TRANSFER FUNCTIONS
%4ZK [. 6-YH & J- X-W )*+ &
-
7UV
:^ _< - X- \ @-
>]
τ y& ( t ) + y ( t ) = k x ( t ) (1-1)
:'a b#/ "-E ); "-:/-
y k
τs y + y = k x ⇒ = (1-2)
x τs +1
.-g/ h τ f
- de k c; [.
%B 8%J j% k%7G %>V (1-2) % X- A i&% - c;
١٥

%7G A -:' * &> O -:1 ! B l [. 6MATLAB/Simulink
.-Y--m '( j J-K LH-8 I-*
Va 8% 'jq r_KZ L a klKp* R a k *- T-o n
7G >V
cs 1%: [%. 6(1-2) X-- i& )*+ &
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% X- - >V -!' 6n e-
7V y L2 cs* 6 Va 'j ! x
$'
:
>] -
Ia k
τ s I a + I a = k Va ⇒ = (1-3)
Va τ s + 1
. L a t=->= τ - s f 1
t=-> -Q ! A k c; [.
Ra Ra
:MATLAB/Simulink ‫ ﳕﺬﺟﺔ ﺗﺎﺑﻊ ﺍﻟﻨﻘﻞ ﻣﻦ ﺍﳌﺮﺗﺒﺔ ﺍﻷﻭﱃ ﰲ ﺑﻴﺌﺔ‬3-1

FIRST-ORDER TRANSFER FUNCTION MODELING
LH-%8 Ru* 6)*+ &
- TJ-K LH8 I-
LH8 wN v * 6MATLAB/Simulink B 8J 6,' 7+ .#
.MATLAB B A M-File T< n 8J TJ-K
:MATLAB/Simulink ‫ ﺗﺼﻤﻴﻢ ﺍﳌﺸﺮﻭﻉ ﰲ ﺑﻴﺌﺔ‬1-3-1
PROJECT DESIGN USING MATLAB/SIMULINK
k% &x )*+ &
- L$ -g e' @ TK -8=
% %lKp* *- zs fn c>K {C KG d| ) (1-3) M# -
% H* 6 Va e'M
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:‫ ﺩﺭﺍﺳﺔ ﺍﺳﺘﺠﺎﺑﺔ ﺍﳌﺮﺷﺢ ﻋﻨﺪ ﺗﻄﺒﻴﻖ ﺇﺷﺎﺭﺓ ﺩﺧﻞ ﻣﺴﺘﻤﺮﺓ‬1-1-3-1
DC INPUT SIGNAL RESPONSE OF 1st ORDER FILTER
d @: 6P < ); "$' * MATLAB O -: d= '
١٦
' L-o *] ! .MATLAB/Simulink 0=-: 8J 0'K' *]
K%C - ); , =-J; 6(1-3) X-- k 1
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6-! @ 5 .# Ke-]* 6*] ! "#$ '8
C De-|* L2 0e-|; O: KC (To Workspace) < @'C
D-<
A L2 M @'C :-> ; 8l: K4 (* 6r$+
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245 01 23 01 /. 01

Sources Clock
Sources Step (Input)
Simulink
Continuous Transfer Fcn
Sinks To Workspace t, y (Output)
- D e-
$':* MATLAB/M-File 0'K' em d @:
.-, -G > * D-M# ~=* -j8J @'C

١٧
k=10;
tau=0.01;
% n% !
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Q K A 3K ¦
. τ w-7 8 , :e- Ts D- $s -,&: 0R&> 8 :
110
100
X: 0.12
90 X: 0.03 Y: 100
Y: 95.1
80
70
60 X: 0.01
y (A)
Y: 63.4
50
40
30
20
10
0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time (sec)
; +
= 1 (2-1)
: - ~&4 K :-7 -Q A :2?@ ; :>

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110
100
90 X: 0.003
Y: 95.76
80
70
60 X: 0.001
y (A)
Y: 65.13
50
40
30
20
10
0
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
Time (sec)
2?@ ; +

= 1 (3-1)
% %s w&s +

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>]
cs /; 6< 8 L2 0e-|; e 9.# >V -8 6)*+ -Q
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I% .%:-7 -Q D ] e'W τ R_< -8M 7 -7 -Q A
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.
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110
100
90
80
70
60
y (A)
50
40
30
20
10
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec) -3
x 10
@@ ; +
= 1 (4-1)
:‫ ﺩﺭﺍﺳﺔ ﺍﺳﺘﺠﺎﺑﺔ ﺍﳌﺮﺷﺢ ﻋﻨﺪ ﺗﻄﺒﻴﻖ ﺇﺷﺎﺭﺓ ﺩﺧﻞ ﻧﺒﻀﻴﺔ‬2-1-3-1

PULSE INPUT SIGNAL RESPONSE OF 1st ORDER FILTER
%$X 0e-|; ~&4 ' d| IXs R$+ I A
.Sources &> A X Tl&: & J H* l&:
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12
y
y1
10
8
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Time (sec)
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٢٥
CONCLUSION :‫ ﺍﳋﺎﲤﺔ‬4-1
6)*+ &
IXs ! "#$ -4
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HOMEWORK :‫ ﺍﻟﻮﻇﻴﻔﺔ‬5-1
% 08
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s
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٢٦
‫ﺍﳉﻠﺴﺔ ﺍﻟﺜﺎﻧﻴﺔ‬
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8 X: 0.0801
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Time (sec)
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9 K p [1 3: oP< )X 0 Ny# v O# IX.; (2-2) e.P

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11
10
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9 Y: 10
6 X: 0.002
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0
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Time (sec)
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10
9
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8 Kp=100
6
y
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234 5. ' (67 (5-2)
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12
10
6
y
0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (sec)
234 !"# "& ()*+ (7-2)
7
V +%L (6-2) ?Q R x) ! 4
. k 0, kJ v ! -0z< O# ) 9( τ s )V -r ^#)
Z;rJ (k = 1) v 0"0 (10) ,)e C% GH 7 ! GH -0Uz
{< 3:e <LJ 9e GH (10) ,)e % GH 7 ! -%! l<
75 H +%LJ Yoff 3:e # .(10) \2# O0? O# ` Yon GH 8P@
. (−Yon ) # 5&y !
+%L< 9=AB D4§ Z"% D:4 D< ^+ 9 CM /P ?Q O!
3: -0X ~ l,E ) O! 9 0B :P" 3: -0X ^~ l,E ?Q
9 Ts $:P +%# ~ 9 Yoff Yon D4 C% D:e 8# 90# 7)P oP< :P"
. X off X on o< H )p qB 7H H
¤
702+ yP £ 2 w]L O: GH X. $ & l2
. E ?
:‫ ﺗﺄﺛﲑ ﻗﻴﻢ ﺧﺮﺝ ﺍﳌﻨﻈﻢ ﺍﻟﺒﻄﺎﺋﻲ‬1-4-2
HYSTERESIS CONTROLLER OUTPUT EFFECT
D . (Yon CM D:e @0 /0 9x) -1
= 50, Yoff = 0)
.(8-2) ?Q : 7 s GH U© V *+, E
O# E! 9 E H l CM 3:e 7<l Z;# (8-2) ?Q IX.;
qB 7H O# 9 :P" 3: -0X ~ l,E 5 0z 75 <~ `
< +,
.(`
`"0 R,ªE <&y 7H) wN 0B
9D4 CM %# D:e @ )H /4 i&; (9-2) ?Q R<
% 7 ! o:B /0; , ;# ^# 9 (Yon = 50, Yoff = −50) @ c:X

V .« 9x) GH U& )H y0 )H "0
.U& )H &y y0 )H "0 % 7 ! 8:J oB; 2 u
12
10
6
y
0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (sec)
(Yon=50, Yoff=0) 89 ' ()*+ (8-2)
¨

V \2# vy# ~ l,E ) O# IX.; (9-2) ?Q
.8
5 ; 2+{< w:N O) V *+, E H q
12
10
6
y
0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (sec)
(Yon=50, Yoff= -50) 89 y ' ()*+ (9-2)
E! 9¬<l l D4 C% D: ]L E H O#

; o
.CM D:e 7<~ l< ^+ ~ l,E ) GH ]¥< +, O#
SAMPLING TIME EFFECT :‫ ﺗﺄﺛﲑ ﺯﻣﻦ ﺃﺧﺬ ﺍﻟﻌﻴﻨﺎﺕ‬2-4-2
q! 9 (Yon = 100, Yoff = 0) D4 C% D:e +%L /0 9 V *+,
oJ $:P +%# ~ w:N /0 RX 9(qB 7H) 7+J P &U 3:e
. X 2 /4 q # è 9R&' R3:e
702+ :NQ $ H "# /4 C% 7 ! (10-2) ?Q R<
@ )H # 9 (Ts = 100 µ sec) $:P +%# ~ O0?< )H S
CM 7 ! OrJ 9D4 $ % D: : $] (Ts = 10µ sec)
~ w:N ]L E H O# IX.; c:X 9(11-2) ?Q 32 84

w£ 2 £ ?Q & )e CM 7 ! ~ l,E ) O# E! 9$:P +%#
o ^+ v@ 0 &E O! .(10-2) ?Q : CM 7 r 5 ;
.U& y0 $EX R <) 7<~ e 0 ZJ < ~ l,E )
12
10
6
y
0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (sec)
(Yon=100, Yoff=0, Ts=100µsec) 89 ' ()*+ (10-2)

12
10
6
y
0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (sec)
(Yon=100, Yoff=0, Ts=10µsec) 89 ' ()*+ (11-2)
Y
:‫ ﺗﺄﺛﲑ ﻋﺮﺽ ﻋﺮﻭﺓ ﺍﻟﺒﻄﺎء‬3-4-2
HYSTERESIS BAND WIDTH EFFECT
: : $ HE oJ CS03 :NQ /0 V *+,
(Yon = 100, Yoff = 0, Ts = 100µ sec, X on = 0.1, X off = −0.1)
$:P +%# ~ @ D: *+, GH /)6

=AB D4 k@ )P
ª CM 7 ! (12-2) ?Q R< ./4 :NQ /0; 9 0B 3: GH
. V *+,
12 X: 0.0445
Y: 10.8
10
X: 0.0503
Y: 9.821
8
y
0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (sec)
(Yon=100, Yoff=0, Ts=100µsec, Xon=0.1, Xoff= -0.1) 89 ' ()*+ (12-2)
! U :P" 3: -0X l¬ 7 s O# (12-2) ?Q IX.;

u D: &' D: *+, O! .# ) z2 (9.821) GH# ) z2 (10.8) 3:
-® 3@ C% 7 ! =< O# Z:H & u 9D43 %!
0, .%E +, ` O! . (X on = 0.1, X off = −0.1) O# H [9.9–10.1]
GH <) q "! `PU Pª u $:P +%# l 5:
; 7w? 3:
: $] (Ts = 1µ sec) $:H +%# ~ :% .qB D4 7+J; )X
|
.(13-2) ?Q 32 84 CM 7 ! O# IX.; /4 :NQ $
R3: R l¬ [zy# CM 7 ! O# IX.; (13-2) ?Q
9GBP 7+J P ): O# ^# 98:H D4 k@ u D: =, [9.9–10.1]
~ $EX E =&?< § 5wNy $:P +%# ~ P¯ E! Z: ?T E
U& ! y0 <) q "! 9`
# `"0 D
°) u
7<~ ^# 9<) $ )H 7<~ ZJ < B +, 9 0B H
i?P
.<)
12
X: 0.03739
Y: 10.11
10
X: 0.04151
Y: 9.899
6
y
0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (sec)
(Yon=100, Yoff=0, Ts=1µsec, Xon=0.1, Xoff= -0.1) 89 ' ()*+ (13-2)
:‫ ﻣﻜﺎﻓﺄﺓ ﺍﳌﻨﻈﻢ ﺍﻟﺒﻄﺎﺋﻲ ﲟﻨﻈﻢ ﺗﻨﺎﺳﺒﻲ ﺫﻱ ﺭﺑﺢ ﻻ ﻧﻬﺎﺋﻲ‬4-4-2

EQUIVALENCE BETWEEN INFINITE GAIN PROPORTIONAL
CONTROLLER AND HYSTERESIS CONTROLLER
=A E v ^S P F D4§ =AB D4 7LJ? ?T e 0
k@ D< O# GH 9(14-2) ?Q v@0 0, 32 F D4 C% GH )
D4 yM Yoff Yon D: i&; GH :;) :P Saturation UP )X
=, =AB D4 ^0 u ? )p UH GH -0UV ?T .=AB
¡
.Discontinuities :H& ?
234 5. :; <4 !"# =)"

(14-2)
GH )p $ k@ SrJ 9(10-2) ?Q : V .

5 1 +%L
GH F [1 3:e k@ 9 (Upper lim it = 100, Lower lim it = 0) D:
^+ CS03 ) R"S03 :NQ 9M-File 3@ (K p = 1000000) 3:
?Q : : GH -0UV ?T (±J? CS03 =AB D4 /)6
<
D4 7LJ? :;?! )2¥< R s R / oB IX.; c:X 9(15-2)
.=AE v ^S F D4§ =AB
14
Hysteresis Controller
Equivalent Controller
12
10
8
y
0
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04
Time (sec)
>; !"# 234 !"# "& ' )*+ (15-2)
)6
$34 0;# 8 # GH P
*+, -.% PB
¡
O: 9 GH 8:B :A8? 7: 34;#
H 75 <~ oK Z;# ;)" F D43
.ZA
D4 2
.=?:
LBM qN! GH e w² Z;# E! 9/4 $ [;2 38 E
LBM ?Q X GH e Z;# ;)" 9=? > F D4 / )6 )H
9$:] )XE l2 `Be GH ZA 0XE =?:
LBM =N< 08J 9=?:

oK =AB D4 O! .=AB D4 5 :?:< e# 5 :B \P{< Z?
7w2 $ ~ l, 0" mP< %# 8" Z;# E! 9 E 7w2 H
: ?T .wN <) ! J@s :P" 3: -0X 0² w²
<) )<l< V +, O# E! 9$:P +%# ~ 7<~ o< H $ ~ l,E
.U& y0 uX R
[1 kh De (kJ F D4§ C% D:4) (1-2) ?Q (1
/4 q # x 9 (K = 100) 3: GH ³ 9 (K = 10) 3: GH F
p p
08 /)H :P 9=?:

LBM E H c:X X 2
. (K = 100) 3: GH F [1 k@ )H =# ?Q CM 7 !
p
; C% D:4 P< ^+ 9(6-2) ?Q ! E (2
D4 $ kh 3e S! /4 q # x 9=AB D4 / )6
D: oJ =AB
(Yon = 10, Yoff = 0, Ts = 100 µ sec, X on = 0, X off = 0)
.=# £ ?Q CM 7 ! 84 S :́
¡
‫ﺍﳉﻠﺴﺔ ﺍﻟﺜﺎﻟﺜﺔ‬
‫ﺗﻨﻈﻴﻢ ﺍﻟﺴﺮﻋﺔ ﰲ ﳏﺮﻛﺎﺕ ﺍﻟﺘﻴﺎﺭ ﺍﳌﺴﺘﻤﺮ‬
‫ﺑﺪﻭﻥ ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ‬
DC MOTOR SPEED CONTROL WITHOUT
CURRENT CONTROL

!"#$%& '()

.HC
-. +, ( PID
*"$ +,
,$0 1$ 23 45* 67, 8
9$ &
0: ;<= >
1("%
&
,
&1" !7 & , @MATLAB/Simulink
? ,5
@HC
-. +, ( PID
*"$ +, !"#$& AB$ 1 ("
.C"
*D !"#$& " EF7 G H IJ &(
:‫ ﳕﺬﺟﺔ ﳏﺮﻙ ﺗﻴﺎﺭ ﻣﺴﺘﻤﺮ ﺫﻱ ﺗﻬﻴﻴﺞ ﻣﺴﺘﻘﻞ‬2-3
SEPARATELY EXCITED DC MOTOR MODELING
@$%0 L%M N6 ,$0 1 2O
F<, C ;<= PQ !7 &
% U%
0V
*<W
( X,#Y '()
R 4 S T$*
.
0V
-EV
3 C7
$%0 LE%$ N6 ,$%0 1$ 23
[,
5* +\] .Z
:
$ +JQ
dIa
Va = R a I a + L a +E (3-1)
dt
٤٣
Tem = kΦI a (3-2)
E = kΦω (3-3)
dω
J = Tem − TL (3-4)
dt
d%.# P7ef Vg @(s) ^Q\ P_ '` ab Pc P$R\
VH > X 7= , MATLAB/Simulink
? ,5 2B, [, 4J(" e
.(1-3)

(1-3)
%$ ,0Z* .'()

R 4 S T$* 23 67h i jQR
,0Z $ i @( I a 1$ lF( (Va − E ) l]) 4-EV $ P()
n7o S* $* .( ω 1("
& lF( (Tem − Td ) l]) 4VRV $
:
p( M-File S ,5 23
Ra=11.8;
La=0.2;
J=0.0086;
f=0.000574;
Td=1.588;
K=0.949;
Va=220;
n=2000;
Ia=1.8;
Vf=220;
Lf=0.12;
Rf=571;
٤٤
2%V$\ n%o f s
. !b J sAB$
((
Y*r R a , L a :` q
k n%[ t(Y 40D W u (K = k Φ ) s9e
7,f !b Td sb
1% I a s1("%
%& n sA%B$ "EF Va s23
p$* no 7=(
.LE$ S
((
Y*r R f , L f sLE$ S "EF Vf sAB$
2%3 67h d X] p. $* lRi jQR (1-3) VH '`
+1w`
J Vg( @ Td 9e
7,f !b( Va AB$ "EF v @^(1"
. Tem !b ( @ I a AB$ 1 @ ω 1("
-EV
*(b
0
[,$ x
E {
7. +7 "*"B$ !7R y(" z Vw 23 67h :
.
,- create subsystem 1x "*"r( X, 1b
23 67h *7r =" Vg
7. +1w| `( C7.x ;<= 8F}
% 7,f !b( Va AB$ "EF v Q] l y(" z '` (1-3) VH > X
1%( Tem 4%0D W(EV !b ( ω
0 4= 1~
oQo( @ Td 9e
.(2-3) VH > X 7= , @ I a AB$
MATLAB/Simulink !" #$ % &' (

) *+, (2-3)
+1%w`
J Vg @(2-3) VH > X 67, ( 4e S WH$
% , ) ,B$ J
0 C1w` (3-3) VH X* .!b ( 1$ (
0
p%.( (Va = 220V) AB$ S 4\ "E: p. " ;"( (
.(4sec)
B > 23 (Td = 1.588 N.m)
\
7,f
٤٥
250
200 X: 6
Y: 209.4
150
ω (rad/sec)
100
50
0
0 1 2 3 4 5 6 7 8
Time (sec)
34" - . / 012 (3-3)
"%
%\
%, +<i "J 23
& i (3-3) VH jQR
. (ω = 209.4 rad / sec)
, 4=( ,B$
15
10
Ia (A)
X: 6
Y: 1.8
0
0 1 2 3 4 5 6 7 8
Time (sec)
34" - . (7-

) 5 012 (4-3)
jQR q @$ !b ( 1$ 1w` (5-3)( (4-3) QVH X*
p%. '` "- <=( @t* (15A) '` e* 23 QJ` 1 i @1$ C1w`
٤٦
@%e %
%*J
,J 1$ $0* { @tCw AB$ 4\ "E:
% , " @1(]
> 23 8 !Q b 2V$\ !b
& $
e I a AB$ 1 * (4sec)
B >
\
7,f ,B$ " .
> !b C1w| V 1\ jQR (5-3) VH .(1.8A)
\
, '`
"% i @ (f ω) "B
*(0 e
*J
,J 1$&\ { QJ|

7,f !b 7,_ [ G (1.708N.m)

, !b C1w` $0$ @,B$
. (Tem = Td + f ω ) b 2V$\ !b( 9e
15
10
Tem (N.m)
X: 6
Y: 1.708
0
0 1 2 3 4 5 6 7 8
Time (sec)
34" - . 9:; <=4 012 (5-3)
:PI ‫ ﺗﻨﻈﻴﻢ ﺍﻟﺴﺮﻋﺔ ﺑﺪﻭﻥ ﺗﻨﻈﻴﻢ ﺗﻴﺎﺭ ﺍﳌﺘﺤﺮﺽ ﺑﺎﺳﺘﺨﺪﺍﻡ ﻣﻨﻈﻤﺎﺕ‬3-3

SPEED CONTROL OF DC MOTOR WITHOUT CURRENT
CONTROL USING PI CONTROLLERS
FIRST METHOD :‫ ﺍﻟﻄﺮﻳﻘﺔ ﺍﻷﻭﱃ‬1-3-3
l%Ri 23 $ 1("
& > '()
*. ",$
%3 C7% <i q @ ω x( Va " l

R[
R
٤٧
%R
JQ $ $& Vg . ,5 1$\ X E
0V
-EV
:VH .Z q @(1-3) VH ],$\ 23
K
ω J La
= (3-5)
Va J R a + f La f Ra + K2
S2 + S+
J La J La
%w i !7 . P(1), P(2) X.J l i " (3-5)

&1"
! .Ji 7V i 7= @z .J 9<
*D ],$( @ PI
5`
%$ ζ "#$ 0 ) <= "T$ Vg( @
*" n0 (

: p( ^(1" 23 +$1 ],$ (3-5)
f Ra + K2 
ωn = = 22.9683
J La 
 ⇒ ζ = 1.2858
J R a + f La 
2 ζ ωn = 
J La 
!% .Ji ) @Ct w PI
5` V, lR} ، (ζ > 1) i
"%i z 9< Vg lR} PI
5` " lRi !7 .

Vg .*J ( " v"i @X.J ^(1" ! $g .! .Ji
: VH p( roots
, !"#$& ^(1" .Ji
P=roots([1 (J*Ra+La*f)/(J*La) (f*Ra+K^2)/(J*La)]);
%, X. i " @p0 M-File S < "
0
,$ < $
:$ $ $,
P(1)= -48.0988, P(2)= -10.9679
%h % Ri Ni @ P(2) t*J t.J( ، P(1) t" t.J g ! i jQR
X% X$ %f <T C ;<= PQ !7 & ..J z 9<f *1
.,E
R1( 1$\
٤٨
< -" @ ( K i = P(1) ) ‫ @ أي‬P(1) " . 9< \t (i !7 & Ri A
Kp
:
$ +JQ ],$\ Kp ,Ki n7o 0 Vg
K Kp
ω J La
= (3-6)
ω ref K Kp
S + P2 S +
2
J La
J L a ωn
2
P2
Kp = ; ωn = (3-7)
K 2ζ
1
.( )
,
0
f ζ "#$
,J 1$ q
2
:4* , p0 M-File S ,5 +JQ ;<=
$V !7R
P=roots([1 (J*Ra+La*f)/(J*La) (f*Ra+K^2)/(J*La)]);
zeta=1/sqrt(2);
wn= - P(2)/(2*zeta);
Kp=wn^2*J*La/K;
Ki=-P(1)*Kp;
%Vg P(1), P(2) X. } @$0 !R @Pf
. 23 i 1$
%F7 J P7eB ( @(4#$ 173 10* ]7F7) t,$

& t,J
%0f
ee# +JQ '` (-) C1w` P]} ,J R} @ ωn , K p , K i n7[
.X. J E ,5 " G ωn , K p , K i n7[
+\] } @ ( K i = P(2) ) ‫ @ أي‬P(2) * . 9< ,J 6`
Kp
:4* , E$5` M-File S ,5 C) Q[
wn= -P(1)/(2*zeta);
Kp=wn^2*J*La/K;
Ki= -P(2)*Kp;
% 6( "% . 9< " M6 n7[ 0
zx +\] p
٤٩
.X$ f QV l6 S !"#$& V,$
/ A PI >?; @; *+, (6-3)
Simulink
Bz ,5 ^(1" 67, 8 !7R @M-File S
?M "
%0
%\
%0 D lRi '` C1w| 1"( @(6-3) VH > ,
$%* G ( PID 27 ,5 b VH K p , K i n7[ J P]} .
F
@ (Ts = 100 µ sec) Fi *(i
*D p( C3 8F`( M-File ,5 0
%* %. 9< :X$ f Q >
,
0 C1w` P7ef Vg
9< " lRi jQR q @(7-3) VH > X 7= , @" . 9<(
8%W `
&(
?.
$&
& e R} @ P(1) (*0 ) " .
%e P(2) (84%. ) * . 9< " i @tY*i
?. 4V$& T.
.X 4V$& T. 8W `
&(
$&
&
. 9< T t.R 4. (7-3) VH > E e G L-$ `
C]%*b C]%J
,Ri 4,,e, t,-] 0R Ri 1$ @
[)
f [g *
8]i %$
% % ="(
0 C1w`
J i \` @!
$&
&
."E:( 1$ 1w`
J " Q @!
" . 9< " Ia AB$ 1 C1w` (9-3)( (8-3) QVH X*
.7$ * {
٥٠
250
Deleting P(1)
Deleting P(2)
200
150
ω (rad/sec)
100
50
0
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
P(2) BF E P(1) 4. B CD' / / 012 (7-3)
7
X: 0.144
6 Y: 6.758
4
Ia (A)
-1
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
4. B CD' / Ia 7-

5 012 (8-3)
%. 9< " !

$&
& C]* i (9-3) VH jQR
%, Q%J| 1% % q @QJ| 1 C]* 0 nR 84.
1% E ` z( G (6.758A)
,
t R1 t"F C
, ;<=( @(29.48A)
.(8-3) VH > X 7= , @*0 . 9< " QJ|
٥١
30
X: 0.0344
Y: 29.48
25
20
Ia (A) 15
10
-5
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
G. B CD' / Ia 7-
5 012 (9-3)
500 450
400
450 350
300
400 250
200
350 150
100
300 50
Va (V)
X: 3.5
250 0 0.1 0.2 0.3 0.4 0.5 0.6
Y: 220
200
Deleting P(1)
150 Deleting P(2)
100
50
0
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
0' IA/ L
K M 4. B BF B CD' / IA/ J.
H 512 (10-3)
>) "E C

,J p. "T$
R QJ| 1$ CV
, `
C] !R 23 (* . 9< " (460V) 7 $
"%E: 1%w` (10-3) V%H X* .
$&\ >
0 pB$ 0* N<
٥٢
.C" Q
t " . ( * . 9< " 23 X$.
l%Ri 23 $ " @1("
&
, i L$ $0R p&
ω
$%&\
& > 8 d @ PI !"#$& @ VH R
Va
C%V C]*b
VH ( @" . 9< " 4V$0 T.x 8W `
&(
.84. . 9< " QJ| 1 >
SECOND METHOD :‫ ﺍﻟﻄﺮﻳﻘﺔ ﺍﻟﺜﺎﻧﻴﺔ‬2-3-3
%3 C7% i 1%$ 23 $

*. ;<= PQ !7 &
@2B, [, > " \( 4] .5 4= E
0V
-EV
Ra
> %57 7= , f ( . l
R[
R $ 23 [g q
J La
$ PI
5` " X. *<= "i 9< Vg $ ( @(1-3) VH
.z .J 9<
*D ],$(
0

& e * . 9< " lRi '()
*. > R"F(
9<% C% ;<= PQ !7 & < @4V$0 T.x 8W ` >(
$&\ >
f
.
f ;<= > ! 8]i
&1]( * .
J
V%H > X% l%6 7= Simulink S ,5 ; ] 67, `
.M-File ,5
$~
*. 0 $& n7o V ( @(6-3)
f
84%. 4VR%V %. 9< " PI n7o 0 Vg
J
:
$ +JQ ],$\
K Kp
ω J La Ki f
= ; = (3-8)
ωref R K Kp Kp J
S + a S+
2
La J La
٥٣
J L a ωn
2
Ra
Kp = ; ωn = (3-9)
K 2 ζ La
i A% @23 n7o N7 M-File S ,5 +JQ ;<=

$V
1
:4* , @
0 $
W
f R $ (ζ = )
2
zeta=1/sqrt(2);
wn=Ra/(2*zeta*La);
Kp=J*La*wn^2/K;
Ki=f*Kp/J;
%0
$& i " @ (Ts = 100 µ sec) Fi *(i
*. C3 8F}(
.(11-3) VH > X 7= , @"*"H 8d ;"( ,B$ J
250
200 X: 139.7 X: 241.1

Y: 209.4 Y: 209.4
150
ω (rad/sec)
100
50
0
0 50 100 150 200 250
Time (sec)
E OF+45 J" N

B CD' / / 012 (11-3)
p%7
$&\ Vw \
0 C1w` i jQR (11-3) VH
1
%-EV
%3 C7 vi Ri '` ]7* 0 ( @ (ζ = ) "#$
2
2% = @i
R . PI n7o 0
zx 7 >
0V
K i n%[ CWe
,
$R ,B$ " 4V$0 T.x 8W `
& > 8 d
٥٤
+%W 1E | (250sec) C$ C3 8F| R1.5 q @ (K i = 0.2105)
u*7% l% $* N< P" 67, (12-3) VH X* . ¡ VH C1w|
.l$,J X,¢ PQ tF1 E 4" .5\
E OF+45 @; /P >?5 #/ Q4

*+ (12-3)
C1%w` %E @M6

0
B M-File S J " @C3 8F}
i j%QR q% @(13-3) V%H > X 7= , ;"( ,B$ J
0
1
3 C7 u*7

$R (ζ = ) "#$ p7 VH <T
$&\
2
Ki
%,J 7
?. $ 4V$0 T.x 8W `
& i . E
0V
-EV
%V ( ,B$ J E$, ,B$ "
0 ]7 6` @ (K i = 0.2105) CWz
."*"w 8d
,r q @ E u*7 " Ia AB$ 1 C1w` (14-3) VH X*
1% i j%QR (14-3) VH . (t = 2 sec)
B > 4\ ,f 23
%M6
VH ]z "J( @4\ 1$ C (20) ](" Ui
,J <T* QJ|
2%3 $0* i 4. , @'()
*. > P(2) * . 9< "
p%B$ QJ|
f PI 7. V "E: LR QJ` 1
٥٥
> "E:
,J nW q @(15-3) VH l * <=( @
$&\
& > C]*
.(660.6V) QJ| 8 oi
250
200
X: 2.493 X: 3.839
Y: 203.3 Y: 203.9
150
ω (rad/sec)
100
50
0
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
E OF+45 4" / 012 (13-3)

40
35 X: 0.0266
Y: 36.22
30
25
20
Ia (A)
15
10
-5
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
E OF+45 BF B CD' / 7-

5 012 (14-3)
٥٦
700
X: 0.0001
600 Y: 660.6
500
Va (V)
400
300
200
100
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
f/J B CD' / IA/ R.
H 012 (15-3)
THIRD METHOD :‫ ﺍﻟﻄﺮﻳﻘﺔ ﺍﻟﺜﺎﻟﺜﺔ‬3-3-3

%.J) J7 W p*D
0 $ C ;<= PQ !7 &
{ @t%Y t%.J !% £.J q @d P £& !"#$& \t (i
.
0 $ PI SYR
P-PI >?S / >?5 @; T

*+, (16-3)
q% @MATLAB/Simulink
? > ,e 67, (16-3) VH X*
%e
%,J 5( ) K v 1 N6 P
" $
N7$r
٥٧
` . PI
F1x
f N7$r , @(45$ n[ ( 4V$ n[
% $%* l Q , PI i @.J) J7 W 4= P
*W
.23
&
0(
F
0
\
0 . 67, <= PQ !7 &
:
$ +JQ t],$ +, n7o
: P !"#$&
"
0
Fi ¤
K Kv
ω J La
= (3-10)
ωi R f K Kv + f Ra
S + ( a + )S +
2
La J J La
1 Ra f
ω n1 = ( + ) ; ζ1 = 1 (3-11)
2 ζ1 L a J
J L a ω 2n1 − f R a
Kv = (3-12)
K
: PI !"#$&
F1x
0
Fi ¤
K Kv Kp
ω J La Ki
= ; = ω n1 (3-13)
ω ref K Kv Kp Kp
S + ω n1 S +
2
J La
ω n1 1
ωn 2 = ; ζ2 = (3-14)
2ζ2 2
J L a ω 2n 2
Kp = (3-15)
K Kv
:4* , 23 n7o N7 M-File ,5

0 +JQ P]` $*
%========= P controller
zeta1=1;
wn1=0.5*(f/J+Ra/La)/zeta1;
Kv=(wn1^2*J*La-f*Ra)/K;
٥٨
%========= PI regulator
zeta2=1/sqrt(2);
wn2=wn1/(2*zeta2);
Kp=wn2^2*J*La/(Kv*K);
Ki=wn1*Kp;
%f (ζ = 1) 1$ ,J Ri jQR M-File ,5 C17< n7[

P7%ef V,$ @(zeta1) & S ,5 C,0( @
"
0
1
(ζ = ) 1%$ % ,J X > @(Xo,$ X.J) SY 4 .J
2
.
0 C1w| [
$& P7eB
F1x
0
f
X$* q @ E u*7 "( J
,
0 C1w` (17-3) VH X*
4=( @C1$# "#$
,J p7* (d )
0
$& Vw i
$& i (17-3) VH X* , @

F
, t"( t( N7r
$&
.(d VH ) u*7$ (" E$ &i E u*7 "
0
("%
%0
> I a AB$ 1 C1w` (18-3) VH X*
"%( (d % V%H ) E u*7 J @ P − PI +, !"#$& 1$
@% X$ %f Q > QJ| 1 i " q @(d VH ) E u*7
J) '()
f 4 @CbJ Vw
F
0 p. '` "- . <=(
% f >( @(16A) 2B, 4\ 1$ + 0 7 l$,J nW (u*7$
;<%=( @(18A) 7% l%$,J nW "J QJ| 1 i " (u*7$ ")
R[
N< ) @Ui 1 1$& .$
$&\
& > C]*b i '` ]7
$
.C] !R i "EF p. .$*
C7% u*7 "( J 23
. "E: C1w` (19-3) VH X*
U%i E u*7 " "E: C1w` i jQR q @ E
0V
-EV
3
.
$&\
& "*b u*7$
, ) @u*7$ J MR
٥٩
250
before E compensation
after E compensation
200
150
ω (rad/sec)
100
50
0
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
E OF+45 4" . / 012 (17-3)
20
15
10
Ia(A)
-5
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
E OF+45 4" . Ia 012 (18-3)
$%&\
%& C]*b lRi jQR (19-3)( (15-3) @(10-3) PVw)
%F7 "E: ) @t, E. Vg \ ]7E: ;<= i \` @QJ| "EF ]]b*
.(5%) ($\ C]* (220V) 7=( 4\ "E: " 23 l.
٦٠
300
300
280
280
260
240
260
220
200
240 180
Va (V)
0 0.05 0.1 0.15 0.2 0.25
220
200
180
160
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
E OF+45 4" . IA/ .
H 012 (19-3)
:‫ ﺗﻨﻈﻴﻢ ﺍﻟﺴﺮﻋﺔ ﺑﺪﻭﻥ ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ ﺑﺎﺳﺘﺨﺪﺍﻡ ﺍﳌﻨﻈﻢ ﺍﻟﺒﻄﺎﺋﻲ‬4-3

SPEED CONTROL OF DC MOTOR WITHOUT CURRENT
CONTROL USING HYSTERESIS CONTROLLERS
@3-3 C% > PI % !"#$&
0
9$ "
%z 9<%
VH ¥#$ 4-. !"#$&
0 $ !7 &
> 0 ¦ n7o g \ HC i 6` @23 .Ji .J
.4-. !"#$&
0 67h (20-3) VH X* . $
,
%. >?
<P" / >?5 *+, (20-3)
٦١
% % 4-%. % +$1 dY !7R 67, WH J
,J Fi 67, WH$ !7R . (Yon = 230V, Yoff = 0, X on = 0, X off = 0)

.(2sec)
%B > 23 ,r( (ωref = 209.4 rad / sec)
F
0

b$M
0 i jQR q @;"( ,B$ J
0 C1w` (21-3) VH X*
y.
t R1 C 4V$0 T.x 8W `
& i , @
F
, P7
.
*"$ +, !"#$&
0
250
200 X: 3.016
Y: 209.4
209.6
150
ω (rad/sec)
209.5
209.4
100 209.3
209.2
209.1
50
209
3.16 3.18 3.2 3.22 3.24 3.26
0
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
%. >?
<P" ?5 / / 012 (21-3)
% \t "% (230V) 4-. x

,)
, 1$ @J7 >
F
,
0 V,$ (220V) AB$ "E:
\
,
t"EF .$* <=( =b$= 0
\
, ($
0 ) @
7.
\
.
V
7,f Q
t ,O 23 7V* " 4\ "E: Ui
%, P7% b%$M §i jQR q @ I a 1$ C1w` (22-3) VH X*
%Vg t%D .4-. ¨(0 "i <=( @ b$=\ P. i( @
F
'` N]ª%* <%= V ( @+ ;6 , *"$ ]] C]*
16
2.2
14
2
12
1.8
10
1.6
8
1.4
Ia (A)
6 1.2
3.1 3.15 3.2 3.25 3.3 3.35 3.4
4
-2
-4
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
%. >?
<P" / >?5 / 012 (22-3)
LE%$ N6 ,$0 1$ 2O
F<h
0: ;<= '()
> n
%0V
*<W$ > 1 '()
R 4 7V$* N< ( @$0
. E
0V
-EV
3 C7 C1w` [
AB$ 1$ (" ,$0 1$ 2O
&
R[
>
ω x( Va " N6 2B, ],$ q @ PI !"#$&
:4* ¥#Z H C" 2 = i R"F( .+, n7o 0 >
&(

$&
& e (84. ) * . 9< " ¤
1 > C C]* E
0 ;<= i \` @4V$0 T.x 8W ` > C
"EF p. '`
5| @4\ 1$ S5 (17) '` e "J @QJ|
.t, l. Vg \ 23
t0R
?.
$&
& e (*0 ) " . 9< " ¤
٦٣
> lF7R \ V ( @4V$0 T.x 8W ` >
0
f d0 T
.p.$
J C t]7EF \( C QJ` +1
f ;<=
4 ],$ p*D @i
*.
0
«R >
0V
-EV
3 C7 1$ @4VRV( 4-EV @'()

:4* ¥#$ H C" tY*i 2 = i R"F( .t] t.5
&(

$&
& e (84. ) * . 9< " ¤
> C C]* E
0 ;<= i \` @4V$0 T.x 8W ` > t"F
?.
"EF p. '`
t 5` @4\ 1$ S5 (20) '` e "J @QJ| 1
.t, l. Vg \ 23
t"F
?.
$&
& e (*0 ) " . 9< " ¤
p.$
J J7 >
*. ;<=( @4V$0 T.x 8W ` > T
PQ
f ;<=
&1] . 2$R) K p , K i X$[ G,J Wz 0
.(
7 q [ Pª0
@.J) J7 W p*D Ef i Pc $ H ;<= 17E `
> q @84. . ( *0 . ]7F( 4=
&&) $VH i 1$
{ t%Y t%.J Xf ! £.J : \t (i £&
5`
[ [

1% '` ]i
0 > P − PI !"#$& ` . PI
5`
% 7%V* "J( C n l$,J ) @V
VH ¬ l V ( @QJ|
(%
f ;<= > 23 p. "E: i '`
t 5` @t, E.$ 7,0
.23 t, l. Vg \ <=( @QJ| " t* (285V)
,
R"F( q @4-. !"#$& 23
& C)
>
%0 V,$ 23 p. 4,) "E: C]* N1(Y lRi
!"* 4-. ` .
V
7,f 23 ,r(

F
,J D "
٦٤
+b$= SY* lRi \` @4V$0 T.x 8W ` > C
&(

$&
&
%, t% ) , l$, "E .$ p.$ .

R @1$ C
.(4\ "E
0
, (i e ) R" ( (
\
n[ t(Y 4\ u [g N< ( K = kΦ ) n[ 0 Vg S (1

PQ% % Td 4%\
7,f !b 0 tY*i Vg S( ®t5*1 k
®C",$ 23 +$1
%J @1-3-3 C >
'()
*. p( . 23 67h t],$ (2
6`
%*. ;<= p. Vg = . P − PI !"#$& 23
& $
®23 ©x $
*" .J) nR
%J @2-3-3 C >

R[
*. p( . 23 67h t],$ (3
Ra
4-%EV %. 9<% PI !"#$& 23
& $
La
;<%= > ! 8]i
R1 E ne G L-$ IJR( (" . )
.(4VRV . ) * . 9<

f
٦٥
٦٦
‫ﺍﳉﻠﺴﺔ ﺍﻟﺮﺍﺑﻌﺔ‬
‫ﻣﻊ ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ‬
DC MOTOR SPEED CONTROL
WITH CURRENT CONTROL

.HC )*+, ! PID '"( $"%&# !"#
63! 8 "'"0 123. 45 63 7 "('/ !"# .
A5@ 63 !" 9 #:& & ;<7= 123. >?@ 45
.B3 #:& A2C
J3 # $<( & DEF 63 G!H I
63 1 I .$ KL@ MN 3! '"( $"%&#
4,2' O P B, &! Q"3 AR 2M# 5 S,+ G. &
.('+ DEF $"%& ;T? 63 $
:PI ‫ ﺗﻨﻈﻴﻢ ﺍﻟﺴﺮﻋﺔ ﻣﻊ ﺗﻨﻈﻴﻢ ﺗﻴﺎﺭ ﺍﳌﺘﺤﺮﺽ ﺑﺎﺳﺘﺨﺪﺍﻡ ﻣﻨﻈﻤﺎﺕ‬2-4
SPEED CONTROL WITH ARMATURE CURRENT
CONTROL USING PI CONROLLERS
$"%&# ?L ( UV # W( DEF ;T? 63 $<( &
A2M B,' .P-PI 3 $"%&# 5? ( ! PI 3
2 *#42 V W<( Z'< [ \I 8! QX<Y (1-4)
٦٧
.WL( $1 6]
)32 – ^& 3 _#<` QX< EF " &
(I K v P3 "1 b<
3 3@ 8 K p _ i , K i _ i 6'P3#
.PI 5c (I Kp_ω, Ki_ω 6'P3! 8 P ?"
E !" #$% &'

(1-4)
J# NT "1 (I $"% PI _#<` d=

: A(
Kp_i
Ia La Ki_i Ra
= ; = (4-1)
I a _ ref Kp_i Kp_i La
S+
La
f, Kp_i _# N # $<(1 \I 8 (I A(1 J# <F!
:NT 63 Ki_i _# N dI '! #<g (I #:&
Ra Kp_i
Ki_i = (4-2)
La
4' k (= PI @ \j K p _ i _# N ? hi

.f 4(,+ 62l k Wm, "45 N n5?
(I A(1 J# 63 n#I 62l Kv ^& _# , #
:NT# + ?"
٦٨
K K p_i K v
ω J La
= (4-3)
ωi K p_i f K K p_i K v + f K p_i
S +(
2
+ )S +
La J J La
:B BNT Lk# oX!

1 K p_i f
ω n1 = ( + ) ; ζ1 = 1 (4-4)
2 ζ1 L a J
J L a ω 2n1 − f K p _ i
Kv = (4-5)
K Kp_i
J# 63 pI 62l PI 5c (I 3 _#< , #
:NT# + A(
K K p_i K v K p _ ω
ω J La Ki_ω
= ; = ω n1 (4-6)
ω ref K K p_i K v K p _ ω Kp_ω
S + ω n1 S +
2
J La
:B BNT fL oX!

ω n1 1
ωn 2 = ; ζ2 = (4-7)
2ζ2 2
J L a ω 2n 2
Kp_ω = (4-8)
K Kp_i Kv
:)' UV _#<` r<s M-File 6] (# NT ;?Lq# $<(1
%========= PI current controller
Kp_i=10;
Ki_i=Ra*Kp_i/La;
%========= P speed controller
zeta1=1;
wn1=0.5*(f/J+Kp_i/La)/zeta1;
Kv=(wn1^2*J*La-f*Kp_i)/(K*Kp_i);
٦٩
%========= PI speed controller
zeta2=1/sqrt(2);
wn2=wn1/(2*zeta2);
Kp_w=wn2^2*J*La/(Kp_i*Kv*K);
Ki_w=wn1*Kp_w;
QX< G. P3 A2M# 8M-File t 6] #<V 8_#< ;?L. "#
A7w 8(1-4) A2M B, QX< AvM ! Simulink u 6] 7
$1 6] )?" d+]k Z'< [ n1@ J3 8! O#:&
(2-4) A2M B,' . #<V ( f(
! (NL x*1 ;<7 WL(
8fy'@ D"#! A A,N WC. (3-4) A2M B,' BI 8 WC.
.(2sec) zk <= S,+ [ \I
250
200 X: 1.5 X: 3
Y: 209.4 Y: 209.4
150
ω (rad/sec)
100
50
0
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
.%/ 0 () * +,- (2-4)
5 ( (& N @ {IT1 (2-4) A2M 63

"3% A33 ( f(
<3 #:&k A2C ! 8D"#! A A,N #<+
1
. (ζ 2 = )
2
٧٠
A A,N #` N E?} | WC. @ {IT1 (3-4) A2M 63
(I A~ Y.! 8* (= _ (I @ G. oX L<'! 8D"#!
)F! (Master) * (= Q? 63 5 C. E?} O (Slave) J#
. (I
16
14
12
10
8
Ia (A)
4
X: 3
Y: 1.8
2
-2
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
.%/ 0 () +,- (3-4)
<2& A A,N d<+ )5 q

8$P# , 3 @
,& q
8zk <= S,+ "# 3@ 8(
A ) Wmvu nN
( ( @ BI 8(zk A !C " ) zk nN
A,N mvu )53 S,+# $<(' P − PI 3 @ ' EF! 85
h+# 3 $<(
A "# 3@ 8 (I A?L A
' (= 5 ( @ r@ 8(,+ <= J3 h& ' )53
.<= N J3 h& ' A2M# P − PI A,N 63 Fmv
8Wm, _3 TN N @ (3-4) A2M 63 {IT1 >?@ I1 63
A2M B,' TN = UV m, "45 S,+ 6 J,+# x 1 EF!
٧١
.(4-4)
260
240
220
200
Va (V)
180
160
140
120
100
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
* 1 2 3 4( 56 +,- (4-4)
: ? U F 8p < ( ! 2M3 A=

. P − PI 3 Q? )5 Saturation L" J]!
.Q"3 AR 2M# ;?L.
‫ ﺗﻨﻈﻴﻢ ﺍﻟﺴﺮﻋﺔ ﻣﻊ ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ ﺑﻮﺟﻮﺩ ﳏﺪﺩ ﻟﻠﺘﻴﺎﺭ‬3-4
SPEED CONTROL WITH CURRENT CONTROL USING
CURRENT SATURATION
= 63 % b"p L" $"%& &"# '", $<( &
!@ 5 N m, mv 6 !@ TN 6 #<g mg W#
^& _# N ,] ;I oX! 8*:
Wm, < S,+ 6
J3 # c WL( $1 (5-4) A2M B,' . 3 N
. P − PI 3 Q? L" L<5<#
WL<5< Discontinuities ,2 63 L"V 7 ;<7= 62l
٧٢
Upper )@ n 3# ,] [ \I 8Simulink ,23 6]
limit
[ \I 8 (I min = −2.5A) D"N Lower limit rvu@ ! (I max = 2.5A) D"N
W( <E M-File t3 6] < 1"! B( t'
zk <=# UV A0! (10sec) W" WV K5q# .(#
A,N WC. (6-4) A2M B,' .f+?k ,u@ UV KL@ @ " 8(4sec)
.D"#! A
78 79 &' 0: 0 (5-4)

400
350
300
250 X: 7
ω (rad/sec)
Y: 209.4
200
150
100
50
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
(4sec) ; 0< &' 78 79/ * +,- (6-4)
٧٣
,# 8m, AR 2M# _F<M "N WC. @ (6-4) A2M 63 {IT1
G. rL' TN " Wm, 53 n5? h+' 3 @
@ k. 8 3 h S( UV 3 Q? 63 m, "45 S,+
AR 2M# WL( $1 A' 6 E2F! 8(2.5A) 63 @ '# ' 6 L"V
JN< . #<V _#< ( 9 +?k I A?"& A# )+?
. ,+3 B3} ' | X. #<V _#<` ( 3 k
EF! 8),+ n*L@ G. UV L<' 8"'" ; 6] ;<?L L:
.f,'( (3.5sec) " #<+ 5 ( (& '
3
X: 7
Y: 1.8
2
1
Ia (A)
-1
-2
-3
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
72 79/ +,- (7-4)
@ {IT1 \I 8L"V L<5<# WC. (7-4) A2M B,'
G. )+? mg UV KL@ Ai 3 EF! >v7! "'" '<3 B# P4'
."'" ; 6] (' @
8(8-4) A2M B, 3 Q? 63 #<+ "4 WC. ,N3 "
L<' JN< .m, AR 2M# 5 4N WC. ! h,& Q & 2l
٧٤
L'L )+v "4 LLP' ( " ,` W
;T? n1@ G. h,
: L f(
!
dω
J = Tem − f ω = K I a − f ω > 0 (4-9)
dt
400
350
300
X: 7
250
Y: 220
Va (V)
200
150
100
50
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
' =' / 56 +,- (8-4)
(J,+# L"V L<5! :1) ( " )5 ,` W

;T?
63 W"3 "# rL' ]! 5 ( 63 @ N G. A7 ! LLP
h,# P − PI 3 Q? 63 #<+ 5 N N G. 63P
f3!L SIT' UV Ai 3 f, .f,& ,u@ n?L }+c @
.L"V Q? 63 ! )5
@", (,& N I ) >v7 ( G. )5 N ;<u! "
: L f(
! N #
dω
J = Tem − f ω = K I a − f ω < 0 (4-10)
dt
L"V L<5! :1) >v7 ( " )5 ,` W
;T?
٧٥
"# rL' #<+ 5 ( 63 vu@ N G. A7 ! N (J,+#
P − PI 3 Q? 63 ]! 5 N WL' G. 63P 63 W"3
.f,5<3 ,u@ n?L }+c @ h,#
5 ( " F(& B= UV & 7(1! WL' 2
.#<g
‫ ﺗﻨﻈﻴﻢ ﺍﻟﺴﺮﻋﺔ ﻣﻊ ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ ﻋﻨـﺪ ﺗﻄﺒﻴـﻖ ﺍﻟﺴـﺮﻋﺔ ﺍﳌﺮﺟﻌﻴـﺔ ﺑﺸـﻜﻞ‬4-4
‫ﻣﺘﺪﺭﺝ‬
SPEED AND CURRENT CONTROL WITH GRADUALLY
VARIATION OF SPEED COMMAND
6 TN 63 " 3"% + >"I. (# W( ]
" f+?k WL( $1 A ('+ DEF @ 1"5!! 8 L" $"%& S'
.(,C) "'" ; ;<?"
* ' 79/ 0: 0 (9-4)
8 PI ! P − PI # W( DEF ;T? 63 $<( &

QX< 1 " & 1@ r@ 8Q"3 AR 2M# #<+ 5 ;?L. J3

]. J3 (1-4) A2M B, QX< M-File 6] #<V 3,!
.(9-4) A2M B,3 <F Ramp ωref Q"3 6 ' !" u
O) 5 ;?L. <F 8 Q"3 J]! 63 * b" .
b"p UV f1 fmv S(s Q"3 AR 2M# (,& !@ ,5<3 fN E?} "N
٧٦
.# UV A(
DEF A .! J35 8B*+# B 3 8A323 63 Q"3 t}'
Q"3 AR 2M# ;?L. (10-4) A2M B,3 <F <# u
.,& !@ ,5<3 53 & h [ K <&
* ' 1/ / (10-4)
: ( Relay ;!H ,y# $<(1 8B*+, B , #
(Yon = 1, Yoff = 0, X on = 0.001, X off = 0)
: ( Relay1 ,]!

(Yon = 0, Yoff = −1, X on = 0, X off = −0.001)
(= (! 5 ( B# }+c) )*+, A?L <2' 3"

? )+' BI 8(1) ( n5? )+& Relay q
f,5<3
rE 8A32 A?L J3 Q? 63 (1) ( S,+ 1L<(' EF! 8(0) (
x'" 1"' EF! 8 Q"3 Q? Al rE 8n5? WL'P# $<(&
( B# }+c ,7' F" 8#<+ 5 <# ¡I "'P3 AR 2M#
'! 'u Q9 <2 E2F! 87 f'!3 = (! 5
3@ .4. Au! N ?¢ " tN<& rE A32 A?L (0) ( S,+
n5? )+& Relay1 q
8f,& )*+, A?L <2' 3"
( S,+ 1L<(' EF! 8(0) ( ? )+' BI 8(-1) (
Al rE! 8n5? (1q# $<(& rE 8A32 A?L J3 Q? 63 (-1)
٧٧
<# ¡I N 3 AR 2M# x'" 1"' EF! 8 Q"3 Q?
( S,+ '! 7 N Q9 E?} F" 8#<+ 5
.4. Au! N ?¢ " tN<& rE A32 A?L (0)
W
;T? BFk# 5 ;?Lq# , ('+ .
A32 s "=# d!y 3P _## , 3 <4
8Q" A , # .WV
(# M-File t3 6] b£ Ti P3 ;?L. [ (10-4) A2M )
f 3 E?}' x'") vu@ A @ _# EF .( (Ti = 0.01sec)
.2# 2! (5 <, ;<@
250
200
X: 13
Y: 209.4
150
100
50
ωref (rad/sec)
-50
-100
-150
X: 5
Y: -209.4
-200
-250
0 5 10 15
Time (sec)
=' / %9 * +,- (11-4)
A2M B,3 <F #<+ 5 WC. &# $<(1 8f'"#
63 K "# (0-209.4rad/sec) 5 ( mv [ \I 8(11-4)
(-209.4209.4rad/sec) 5 ( mv ¤ 63! 8(0sec)
@ {IT1 \I 8UV !L & WC. (12-4) A2M B,' .(6sec)
٧٨
1
!" " (ζ 2 = ) A5@ 63 JN< #:&k A2C E?} WC.
2
.UV A0 ' | #: DEF F! 8BFk#
250
200
150
-200
100 -202
-204
50 -206
ω (rad/sec)
210
-208
0 -210
208
206
-212
-50 2 2.1 2.2 2.3 2.4 2.5 2.6 204
202
-100
200
10.2 10.3 10.4 10.5 10.6 10.7

-150
-200
-250
0 5 10 15
Time (sec)
44> * +,- (12-4)

300
200
100
ω (rad/sec)
-100
-200
-300
0 5 10 15
Time (sec)
(4sec) ; 0 &' * +,- (13-4)
٧٩
63 !" D A'", A,N r@ 8(4sec) UV A# $<( &
8= DEF WC. (13-4) A2M B,' .)33H Dk G. )2 Dk
;"# LL (A = r@) (4sec) WC. @ {IT1 \I
WC 3 WCq# n(,+ [ A= @ r@ 8((+ (# WL') ( @
A2M G. # D"} 62l J,+# EF! 8 WL' h,&
N E?}' $P @ {IT1 \I 8UV 63 "< $P WC. B,' rE (14-4)
. DEF " ,& ;P | WC. @ J3 8A = 63 K "# ,5<3
2.5
1.5
0.5
Tem (N.m)
-0.5
-1
-1.5
-2
-2.5
0 5 10 15
Time (sec)
(4sec) ; 0 &' ?@% +,- (14-4)
J]! )"' 8¥? ('+ DEp UV A0 @ x 1 S,&
)F T A "'1 1@ ,# . !" D J3 A 3KT !" u
A2M B,' . !" D *T' UV G. A= ;?Lq# $<(1 b<
8 !"
$P ;?Lq# $<(1 1@ ]<' \I 8# , A !" u (15-4)
A !" u t}' . (TL = Td + G ω) ] QP! b7 n'@P¦ <=
( K+q# WC tC $<(' .#! 8J35 8d] 8Sign WC. tC 63
٨٠
WC. )+' n1@ r@ 8f,& n?L X. (-1)! f,5<3 n?L X. n5? (1)
63 Td S,+ WCq# b7 $P d] ' .(,& !@ ,5<3)
A= A
? KP 3@ ., " (−Td ) ! ,5< A5@
B, QX< ) G # (# N dy# N \I 8 (G ω) QP
(
bu $P S,+ "'1 1@ r@ (0) (# G # ;?L. [ (15-4) A2M
)3P J§ [ '4 # .(U A !" 7 6] A?"' QP $P @ ,#
(−Td + G ω) ! ,5< (Td + G ω) ( ;<7 <=
.,
*/ A( 0 1/ / (15-4)
!" u ;?Lq# (9-4) A2M B, QX< A'" & $"( 3 K #
.(16-4) A2M B,3 <F 8 !" Dk *T A
0 CD B7- &' 0: 0 (16-4)
" ©< $P! ¨C. 63 Tf (18-4)! (17-4) T2M B,'
.(4sec) UV A0 J3 (16-4) QX< L
٨١
300
200
100
ω (rad/sec)
-100
-200
-300
0 5 10 15
Time (sec)
0 1/ 79/ * +,- (17-4)
(#) _yª UV & @ {IT1 (18-4)! (17-4) B2M 63

WC. S
< (,+ $P WC. @ r@ 8), EF! 8A = ((+
#<+ 5 ( N m, ! U F ;3 62! 8WC#
W"3 U F @ G. L<' h,! (13-4) A2M f(#& 4« (209.4rad/sec)
! )5 @ r@ 8(8-12sec) 63 f#` $P T? (,' 63P 63
( 63 @ P − PI 3 63 d<+ )5 H 8"'" ;
$1 <2' ;¬ EF ;T? .(19-4) A2M 63 ]! EF! 8L"V 7
% .(7-4) A2M D1"5! pM3 :1 A7w! )+? mg WL(
?¢ (' @ "# UV A£w @ 62l L"V 6 +?T 2M3 63
(&k "# r@ 8T
f 3 (12sec) n0 ' r@ 8n &
L<5< A32# c _# WL'P# x'" 63 WL' 62l !@ 8,5<
A0 L<5! J3 WC. (20-4) A2M B,' . Q"3
.(12sec)
٨٢
2.5
1.5
0.5
Tem (N.m)
-0.5
-1
-1.5
-2
-2.5
0 5 10 15
Time (sec)
0 1/ 79/ ?@% +,- (18-4)
2.5
1.5
0.5
Ia (A)
-0.5
-1
-1.5
-2
-2.5
0 5 10 15
Time (sec)
0 1/ 79/ +,- (19-4)
mg !: 63 k WC. @ {IT1 (20-4) A2M 63

; 6] _(# WC. @ Q & G. 1L<(' EF! 85 ( <,(
.(21-4) A2M G. # ]! EF! 8"'"
٨٣
250
200
150
100
50
ω (rad/sec)
-50
-100
-150
-200
-250
0 5 10 15
Time (sec)
(12sec) ; 1 2 0< &' * +,- (20-4)
2.5
1.5
1
Ia (A)
0.5
-0.5
-1
-1.5
0 5 10 15
Time (sec)
(12sec ) ; 0< 79 &' +,- (21-4)
:‫ ﺃﺛﺮ ﺗﻐﻴﲑ ﺛﻮﺍﺑﺖ ﻣﻨﻈﻢ ﺍﻟﺘﻴﺎﺭ ﰲ ﺃﺩﺍء ﺍﶈﺮﻙ‬5-4

EFFECT OF PARAMETER VARIATION OF CURRENT
CONTROLLER ON MOTOR PERFORMANCE
r@ 8 #:& Wf L' h, K p −i _# @ fN @ $< 63
٨٤
N ? [ DEF .$ AR 2M# $ #:& @ f &
_# EF N WL'P# W( DEF ;T? 63 $<( & .QX J§ (K p−i = 10)
.UV KL@ ,N3!
250
200
150
100
50
ω (rad/sec)
0
210
-50
209.5
209
-100
208.5
-150 208
207.5
-200
11.95 12 12.05 12.1 12.15
-250
0 5 10 15
Time (sec)
(Kp_i=50) 9E =' * +,- (22-4)

2.5
1.5
1
Ia (A)
0.5
-0.5
-1
-1.5
0 5 10 15
Time (sec)
(Kp_i=50) 9E =' +,- (23-4)
٨٥
A5@ 63 h ! ¨C. (23-4)! (22-4) T2M B,'
63 (21-4)! (20-4) 4'm # (23-4)! (22-4) B2M 1( . (K p−i = 50)
<3 AR 2M# @ _,u@ #:&k & @ {IT1 8 (K p−i = 10) = A5@
mg _,u@ A = q
WC , # 3@ 8 WC , #
@ K p−i N _1 8fX. .)2 }+c Kv. & WL' h,# ]!
WL' @ r@ 8@ )2 }+c Kv. &! #:&k & _1
' EF! 8A32# $ #:& & 63 "'P (I & #:&
. J3 L O d,&H F@ 63
"'"
mg K p−i _# WL' " ! C. ,N3 .
WC. '3 63 "# k X. 8Ay
H #:&k )+ O _# E 3H (
S,+ Va "4 WC. (24-4) A2M B,' . 3 Q? 63 #<+ "4
. (K p−i = 5, K p−i = 50) A5@ 63 UV
250
240
235
200 230
225
150 220
Kp-i=5
215
Kp-i=50
100 210
205
200
50
11.8 12 12.2 12.4 12.6 12.8
Va (V)
-50
-100
-150
-200
-250
0 5 10 15
Time (sec)
Kp_i F/G HI ) 9E =' Va 56 +,- (24-4)
A = " Wm, N E?}' Va "4 @ {IT1 (24-4) A2M 63
٨٦
"4 q
W( = 3@ 8 (K p−i = 50) A5@ 63 (W# = ;T? r@)
S,+ A=! zk )F #<+ @ zk ( ('
@ N G. Au! "N "4 @ {IT1 (K p−i = 50) A5@ 63 .)zk A= <F
n1@ ' EF! 8)zk "4 N 63 @ N )F! 8f,'( (237V) F"N
( !:' @ 62l! 8W# = LLP& Va "4 q
@ K p−i _1
_# Wm, N ? L" 63 "4 # k EF /' .zk
. K p −i
@ f 23 'L f(#& 7 WL( $1 K+. DEF ;T? 63 +&
P − PI " .?L (j PI ;T? 63
8$"( 3 ;T? 63 . PI 3 L<5<# ¡I m,2 TN 2M3 45!

$"%& S' 6 A3H A2M# 4I 62l k TN WL'P @ 1"5!
UV ;<?L h,' K5 EF H 8 3 63 x )5 L"
W"3 ;T? 3 k _#<` dI ,7 ! 8+?k A (+
63 " 5 Q"3 $"%& G. n5< [ E .+?T A
f 1(3 4y
@! ('+ DEF
]! x* _,`@ "N! 8m,2 TN
.f(#& 7 WL( 1}#
$1 6] (,' @ hi "'"0 7 @ >1 8 Q"3 L<5<#
k. 4. ;<u< 62l k N ! 1" nN ,] ' \j WL(
.(UV )2123 A+ 8"* A0) (
®<+ kI
(Ti = 0.01) ( 63 UV KL@ 5 Q" A3 mv `@ ¯L@ (1
.B= B# N! (Ti = 0.003) ( G.
٨٧
٨٨
‫ﺍﳉﻠﺴﺔ ﺍﳋﺎﻣﺴﺔ‬
‫ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ ﰲ ﳏﺮﻛﺎﺕ ﺍﻟﺘﻴﺎﺭ ﺍﳌﺴﺘﻤﺮ‬
‫ﺑﺎﺳﺘﺨﺪﺍﻡ ﺍﳌﻨﻈﻤﺎﺕ ﺍﻟﺒﻄﺎﺋﻴﺔ‬
DC MOTOR CURRENT CONTROL
USING HYSTERESIS CONTROLLERS

!"#

( )*+, , -, /. 0,1 " $ 234 5 . PID %& " $
:,;< ( ,
! = &> < ?79 " /@A >B 890 67#
8< #G 67# 7 D!%E K&L $ J$ K p C D!%E FG 8HI
234 >B PB$ &> :O ( D!%E >
M9@ C ( D!%N 234
.Q 0R$ - H9"$ S%N !&T U9 D!%N
,7 D!%E - )!< 7 D!%E 234 D0
&"
, 7 WH ( S?+ " $ -&V7 H 67
. P − PI $ -&V7
:‫ ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ ﺑﺎﻻﻋﺘﻤﺎﺩ ﻋﻠﻰ ﺍﳌﻨﻈﻢ ﺍﻟﺒﻄﺎﺋﻲ‬2-5
HC-BASED CURRENT CONTROL
Z,[ PS,?+ $ -&V7 *
I a YR$ #X < <&+ 7
^_9," (1-5) /01 W+% . H P4 D&H H - \9]
D, Y, a,+? -9 7 ZH PS?+ $ -&V7 "`$
&> "C QJ
/b9 & Q+? !$ ^c < . $ 3
9 \b
٨٩
.(0V) /` & ^c 8< WH ( (220V) eR" Pd#

(1-5)
/,"T h, *+ $ (Jg ^N /"T Load U& ` f%

a+? 8& *
Td Kb /i a+? -9 7 X%& . (TL = Td + G ω) K`
+, .(4sec) , R ( Pd# /"T a+? 7 ZH (JG ^N /i \<
W+,% .(1.8A) YR" Pd# a+? j &
k9?$ I a _ ref PB$
.2& /"R /+C I a DlG (2-5) /01
2
1.8
1.6
1.4
1.2
Ia (A)
0.8
0.6
0.4
0.2
0
0 5 10 15
Time (sec)
#$% & '

!" (2-5)
٩٠
,S! /. 01 B$ " 9H N>% m 8< nHo (2-5) /01
, ) Dqrb "C FG st u vCg D
B$ " 9H N4 pG
.9?$ PB$ "C 9H N>% z+b< /"R & (x
/"
6,% e,{ 8I XB +% x
/" & hC9 (
P,d# , , H () k9?$ PB$ q@0 /C< Xqrb X 4&
/! @}"$ (f ω) BN 9"T h+? |o Dqr` " .(eR"
, /," & Xq+ X 6% e{ /B 0A .eR" PC& ` *?V$
8! T +? :+% q+0 &> 34 e{ q+ &>B a+? j _G x
,"C a,+? -9o ~_ aR .k9?$ aR X&B e{
4&, (/,b9 &, ^c) PS?+ $ ^ YR$ (2500V)
.(3-5) /01 ( +$ YR$ DlG /`R 7
4.5
1.8
4
1.6
1.4
3.5
1.2
3 1
0.8
2.5 39.998539.999
39.998539.99939.9995
39.99939.9995 40 40.000540.001
40.000540.00140.0015
40.00140.0015
Ia (A)
1.5
0.5
0
0 5 10 15 20 25 30 35 40 45 50
Time (sec)
2, /0 1
-. () *+, &$ , !" (3-5)
(1.8A)9?$ B$ " 9H N>% 8< nHo (3-5) /01

8< nHo ZH (4-5) /01 ( +"
DlG < q+ EN4 ? 0
٩١
, a+?$ &>6 X o X&B Dq+ "C P4 (2179rad/sec) " Mr
> 9`T h?o P" a+? C q; 7&$ T 234 8G .e{
.e{ (2500V) 2&C &>B a+? 0"$ q; "
*
D{
2500
X: 40
2000 Y: 2179
1500
ω (rad/sec)
1000
500
0
0 5 10 15 20 25 30 35 40 45 50
Time (sec)
2, /0 1
% () *+, &$ , 3,4 !" (4-5)
*
o!< _G XRRb f% # Kb /i a+? 8< & a+7 =
x
/" & B " Y$ 6% 8< eR" 0A # QoI
a+? P&% 01$ 234 /H 8G .Pd# &> q@0 f< &>B a+? & #G
. Td K` /"T )rG (G ω) (JG ^N /i
Dqr,b "C < & eR" Pd# ^N e0H# / "C FG D!9
a,+? )B a+?$ /"T 8
d# /B< (f = 0.000574) X&B
a+?$ /"T 8< \< (0.000574 × 209.4 = 0.12 N.m) X+% \% *
(f ω)
, 8
Pd# /"T /C ,d# " FG ( ") PS?+ $ ^ "C D!G &
*,
(10sec) D, ^_9," /r1 -9o K` /"T a+? )rG e{
.(5-5) /01 ( W+ 94 " DlG /`R
1.8
1.6
1.4
1.2 1.82
Ia (A)
1 1.8
1.78
0.8
1.76
0.6
1.74
0.4
1.72
0.2
1.7
5.9995 6 6.0005 6.001
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
789 5+ &6 1

, !" (5-5)
8< + zRb /. 01 " 8< (5-5) /01 nHo
W+,% ./r,1 D& % H vCg T 9?$ B$ " 9H N>%
,+ m &, 7 8< nHo ZH T 234 ( DlG (6-5) /01
94 k9?$ PB$ 8< + P+O I 34 X7
$ d# "
P,O r>0 -N, ,d# ," a,
9% 9,4 (1.8A) d# "
:P% $ X
^N /i a+? j &C (1.7058N.m)
((f + G ) ω = (0.000574 + 0.01) × 158.4 = 1.675 N.m )
٩٣
W, *+ U PO r>0 -N d# " X&B +%C " 234
.(5-5) /01 ( +$ I a EN4# q+0 ?$ FG !9% W"
160
X: 6
Y: 158.4
140
120
100
ω (rad/sec)
80
60
40
20
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
5+ &6 1
, 3,4 !" (6-5)
G M@ rb< "C e{ 4& &% "C D!%E 0A
/r,1 (G = 0.0075) ,"C h,J9 .< 7 & Pd# /"T a+? \<
9,4 " d# +%C "C 3< !!E 8< nHo ^_9"
,B$ ," 9H X" T +? ) h (7-5) /01 ( zJ9
.(8-5) /01 ( W+ 94 " 9;$
e{ 8! FG &$ G M@ "C \! 8< : X" +% P0
,d# >,"C E| H ( .d# >"C E6 # S 7 &
,") ,$ ^ +?$ &> "C 8I H ^V7
. $ "C ?r P0 (P" < &R d#
, < H 8&) D&SC [ & Qo< o a+7 =
/0,1 , # " 8
(
X @ R H
٩٤
,$ v9o sr ~_ ((G + f ) ω) ^N /i a+? & #G zR`
.PS?+ $ < PI 94 $ 8 ) 97 -&V$
220
200
X: 9
Y: 205.5
180
160
140
ω (rad/sec)
120
100
80
60
40
20
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
(G=0.0075) -8% , 3,4 !" (7-5)

2
1.8
1.6
1.4
X: 0.0011
Y: 1.175
1.2
Ia (A)
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
(G=0.0075) -8% , !" (8-5)
٩٥
‫ ﻭﺍﻟﺘﻴــﺎﺭ ﺑﺎﺳــﺘﺨﺪﺍﻡ ﺍﳌــﻨﻈﻢ‬P-PI ‫ ﺗﻨﻈــﻴﻢ ﺍﻟﺴــﺮﻋﺔ ﺑﺎﺳــﺘﺨﺪﺍﻡ ﺍﳌــﻨﻈﻢ‬3-5
:‫ﺍﻟﺒﻄﺎﺋﻲ‬
P-PI AND HYSTERESIS CONTRLLERS:BASED SPEED AND
CURRENT CONTROL
PS? P − PI D 234 -9 7
# Q,o< % 34 T H MR+b< H 8< \<
8I D ( 7&$ T K *+ $ /"T !g P !
/,"T X?+ z+b< pG X &% m H -&$ PB$
h, Q,"C !!N x
/" & Dqrb "C 37 Qo< % 34 a+?$
. "`$ ^_9" (9-5) /01 W+% .+?$ 9"T D!%E
% 3,4
(9-5)
, (1-4) /0,1 ( ?$ 2q (9-5) /01 ( W+$ ^_9" o

, , PS? -&V7 (9-5) /01 ( "C o< &
M9 -&V7 j Qo< 2-4 D ( o&B .PI #X & YR$
8G .(1-4) /0,1 ( W+,$ ^_9" ( P-PI M9 C kH (
( W+,$ ^_9" K (9-5) /01 ( W+$ ^_9" ( >B9 01$
:? h b K3H 0A # Qo< P4 (1-4) /01
, PI $ -&V7 & T 8 " ( R a ) e{ ^_9" PS>0
La
٩٦
8< f ,7 3, :? h Q
3H Xb
X b< ~A # PS?+ $ 8G .
z, Q, FI ,+ $ /o h
0 (9-5) /01 ( H
.(10-5) /01 ( W+ 94 " τ 67 E \&H
&; & + <) = (10-5)
&, , " M9 kH 0A Qo< nHo (10-5) /01
," 3, M@ 34 "C &%& 0A hC9 ( . T τ

N, M,@ "C 8< (8-5) /01 W+% ZH *
& Q T
. (τ = 0.0011 sec) P4
,& ,T , M9 kH 0A (10-5) /01
:R
PI Bc T M9 < (ζ1 = 1) 8< + P
1
,7 $ M@ + . (ζ 2 = ) Y
& :?C h b K3H a%O
2
:C ?$ & H /o h QH 0A Kv
KKv
ω τJ
= (5-1)
ωi 1 f KKv + f
S2 + ( + ) S +
τ J τJ
:W WC !"# ~_
1 1 f
ωn1 = ( + ) ; ζ1 = 1 (5-2)
2 ζ1 τ J
τ J ω2n1 − f
Kv = (5-3)
K
h LH 0A PI Bc H M9@ +
٩٧
:C ?$ /
K Kv Kp
ω τJ Ki
= ; = ω n1 (5-4)
ωref K Kv Kp Kp
S + ω n1 S +
2
τJ
:W WC X!" ~_

ω n1 1
ωn 2 = ; ζ2 = (5-5)
2ζ2 2
τ J ω2n 2
Kp = (5-6)
K Kv
:P% " e{ M9 \9] M-File "J C ! -9o
%========= P regulator
tau=0.0011;
zeta1=1;
wn1=(J+tau*f)/(2*zeta1*J*tau);
Kv=(wn1^2*J*tau-f)/K;
zeta2=1/sqrt(2);
wn2=wn1/(2*zeta2);
Kp=wn2^2*J*tau/(Kv*K);
Ki=wn1*Kp;
+ e{ (G ω) (JG ^N /i a+? BH # Qo< 3 %&
304 D&SC H M H P4 "`$ ^_9" ( H 8<
. P − PI , ^ +?$ 9"T *+ $ PB$ 3
^,c ,< . T ( " $ 3

9 \b D Y a+? -9 7
P,d# &,> "C / < "C & QJ
/b9 & Q+? !$
/"T & zRb /. 01 0" ~_ (230V) P4 eR"
( 83 \< B$ " 9H 8N lG 8< + Wd#
٩٨
.B$ < X"C D$ T
",J "`$ ^_9" /r1 u M-File M9@ kH /r1 &
. DlG +C -9o (6sec) D&$ Simulink Rb
ZH 2& Pd# /"T /"R /+C I a DlG (11-5) /01 W+%
< /,"R /+C ) 97 9?$ B$ " 9H q+ ? N>% 8< > %
,7 , q@0 f< T 67# 7 890 &S 34 2&
,> 9`T j (τ = 0.0011 sec) N M@ "C 8< H 67
h % T 234 ( WH ( 2! |
. [ + & T 8907
20
15
10
5
Ia(A)
-5
-10
-15
-20
0 1 2 3 4 5 6
Time (sec)
τ BC+ 3 > >6 3& > ?@A" , !" (11-5)
"C D!%E FG &" 7 o

T 234 ( - )!< ( 7# -& :+
,"C ,! ., H 67 7 / ~_ τ N M@
/
< 0 &B )! /"% e{ 8< nHo - /r1 (τ = 0.03 sec)
, ( +$ %& " $ -&V7 h H
٩٩
.
250
200 X: 4.998
Y: 209.4
150
ω (rad/sec)
100
50
0
0 1 2 3 4 5 6
Time (sec)
(τ=0.03) 0D E. 3,4 !" (12-5)

9
1.85
8
7
1.8
6
5
Ia (A)
1.75
4
4.625 4.63 4.635 4.64 4.645
Time (sec)
-1
0 1 2 3 4 5 6
Time (sec)
(τ=0.03) 0D E.

!" (13-5)
>,"C & 7 &C T 234 & DlG (12-5) /01 W+%
Z,H YR$ DlG W+
(13-5) /01 < 2& /"R /+C B$
١٠٠
j Q,o< + (1.8A) d# " 9H /"R & N>% 8< nHo
&C vCg "C 8< H 0A < Ho .Pd# /"T e{ /"
.(9A 9H) 9+ q; "C Mr
n
, Z[ Xqrb τ M@ )G h h $ vCg 01 /H 0A
B$ !G 67# $ q+ & H FG
. (4-4) D ( Q" j " ^& /. 01
,[ bc (τ = 0.005 sec) /B< DlG (14-5) /01 > %
, 8< n,Ho ZH ^& bc (Ti = 0.01sec)
),rG ,7 8< (2sec) 9H & (d# ) 9;$ >"C & 7
X o 9R /. 01 f< Mo (4sec) R ( /"R 6o P0 ?c
.(12-5) /01
250
200 X: 5.218
Y: 209.4
150
ω (rad/sec)
100
50
0
0 1 2 3 4 5 6
Time (sec)
. F 3 $0 3,4 !" ?@A"% (τ=0.005) 0D E. 3,4 !" (14-5)
E,6 m (15-5) /01 ( +$ DlG 8< nHo < Ho
١٠١
,7 8< " /r1 D& / X" 8 8< L 9"$
.(13-5) /01 ( +$ 67 X o Mo Q67
2.5
1.5
Ia (A)
0.5
0
0 1 2 3 4 5 6
Time (sec)
. F 3 $0 3,4 !" ?@A"% (τ=0.005) 0D E. !" (15-5)
G$ $ % 3,4

(16-5)
P − PI ^ !&¡

J% " H z` %
v+,lg H ( 9& % X+O .4E6 z"% # %&H C &%&
X? D0$ D #T ( D! - o +% WH ( ¢9? H ( *
^&, /, "C >B τ M@ M9 2£!< X?+
Q%& 7 (9-5) /01 ( W+$ ^_9" 8< \< < >B D&" $
.(16-5) /01 ( W+ 94 " !&¡ ^&
J
١٠٢
v7< )!< a K&L PS?+ $ -&V7 j 234 (
. PI $ -&V7 %? X o D! -
P − PI ,$ -&V,7 ",$ e{ j ~_ &
8< ,+ j 01$ 234 /T . $ 34 M9 kH ( 01$ Mo
FI + $ /o h ¤
0 PS?+ $ -&V7 H 67
.&H9 \% Q[ τ N Q
, D,lG N M@ 3 +% "C 9`T j %&+ (
`H Z[ τ N M@ "C D!%N "C ~_ & .*
& ~_
.D! - 7 &B )!<
K&,L ^&, /. 0,1 B$ " !G j ¥ (
,< >B >B vCg ) < ( &SN :O 01 ¦V
P0 , ,?c )rG ( f< 7 67 7 9`R
~ 80g &C +%C τ N M@ "C Y
0"
-&V,7 2! & DlG §C > 9`T j
.PS?+ $
, P − PI , PI $ D! - o )!< W 8C (1
PS,? $ D! - ( (1-4) /01 ( ")
P o 0 ^& 8& !&¡ 8& P − PI
, e{ a+?$ &> vCg 67# 7 ZH D!
: /B<
. (K p _ i = 5) hJ 7 I D! - + ¨
١٠٣
. (τ = 0.03 sec) hJ 7 5@ D! - + ¨
, 3,< E /B< 0 PS?+ $ -&V7 *
C (2
, , ,"C W 8C . (G = 0.01sec) M (Ts = 0.00001sec)
W *+ K# :+7 W (6-5) /01 ( +$ > M`H
.W"
/, /,B< , PS?+ $ ^ e{ +?$ &> DlG 7 (3
. 234 ( 7&$ #T
D3,
o Y %b "C /B< 3-5 D ( +$ #T h© 7! &< (4
،(0V) /` & ^ "C (220V) /b9 & ^ "C PS?+ $
.> M`H S ªCo
D3,
o Y %b "C /B< 3-5 D ( +$ #T h© 7! &< (5
/,` &, ^, "C (230V) /b9 & ^ "C PS?+ $
.> M`H S ªCo ،(-230V)
١٠٤
‫ﺍﳉﻠﺴﺔ ﺍﻟﺴﺎﺩﺳﺔ‬
‫ﺑﺎﺳﺘﺨﺪﺍﻡ ﻧﻈﺮﻳﺔ ﺍﻟﻨﻤﻂ ﺍﻻﻧﺰﻻﻗﻲ‬
DC MOTOR CURRENT CONTROL USING
SLIDING MODE CONROL THEORY

./ 01 * $+ , - %& '() !" #$
7
89 :;< =>? @ A(B .23 ( 3 4(5
.ECFGF H I( D& %&C
N O '() N< P1Q ECFGF H K3L? MB+J
:EI W KX R1 STB 7&U V %&
.8Z [\]+ ^(_ [B+ - N O [" 3( @`+ -1
[?
($a @ ( A(b
S%c I& +
d -2
.j N O h
Li e\+ f(g
L R1 Sg B d* k8 lm [B N
[ o SSMC ECFGF H N
H m 3 N
nU 1(
N
3 N+ ! P − PI NW ( N+ nQ 1> 1(
.ECFGF H
105
:‫ ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ ﺑﺎﺳﺘﺨﺪﺍﻡ ﻣﻨﻈﻢ ﺍﻟﻨﻤﻂ ﺍﻻﻧﺰﻻﻗﻲ‬2-6
CURRENT CONTROL USING SMC
7
N R1 SECFGF H I(
I a 3 N
FD
:E< 3F :;< S3 % lm fVL
:q q#( q)(] l r 'FG &B p(m
.N (8b nQ * 'FGF &B .L + .
1 L< S =B8 [? *C _
'FGF &B E$B+ .
. Va *
fG [s L< t $+ ucL [s .vm H m 3 N
L W
.A(b [s k aw
: C>B
%$B 3 N 'FGF &B . p(8
SI = I a _ ref − I a (6-1)
'FGF !
+ C .L + N t x1> (6-1) &B nQ (
EBc( 3 DI 4(y 3+ .L I N tU S(8b I
.l 5 =U ^(] .vm ; < S3 N+ t Q B ;< S (Ia_ref = I a )
:+/ &B [bz R1 S'FGF !
+ ' _
L S{| ^(]
dI
S& I = − a (6-2)
dt
#
(* &B nQ %&LB
S(8b ~+ (6-2) l] &B [B}
N O *c ~Gc 1 [| ~; Sm * f @ (3-1) 4(O
:EI 9 (; *c m *) ECFGF N f(? +
dI a 1
= − (R a I a + E − Va ) (6-3)
dt La
: C>B (8b ~+ (6-3) &B [B}

106
Va _ eq = R a I a + E (6-4)
[|X S'FGF $ E I 4L (6-4) &B b+
S
L$ Bc( tC p(O 3+ 7
. t $+ K> p(O *c
GJ E S$ ;< :
(p(O 3+) s =LO ;c B
V
S(EBc( 3 :
~) 'FGF $ Lz 4(O
(p(O 3+) s =LO
3 AL .u ;c .L
(6-2) &B S& I s ILB+ @
F tvm
: C>B
[| ; .LC 8 ; qLC q
@
S& I = −Q s sgn(SI ) − K s SI = Va _ att (6-5)
:u . @ (6-5) (6-3) S(6-2) F&B &F
1
− Q s sgn(SI ) − K s S I = (R a I a + E − Va ) (6-6)
La
:EI 9 E * f @ (6-6) &B @

Va = L a (Q s sgn(S I ) + K s S I ) + R a I a + E (6-7)
m * @IGc @ .L I E * . (6-7) &B @

. Va _ att ; *c Va _ eq
Va = Va _ eq + Va _ att (6-8)
C GI tvm S4(y t $+ ucL * L t (6-7) &B q+
C nQ maw
I a p(O 3+ C S E B #
(* 9(y %L
&B [ ]+ FD u 9 S R a t C S L a p(O I(r
Va E * [ ]+ 89 (1-6) [ ] qI .(6-1) C>B
S I 'FGF
NI o 'FGF &B [ ]+ FD NI t qI (1-6) [ ] @ .(6-7) C>B lm
[ ]I ;
S Q s h
|
j(a Nm 'FGF !
+ %3_Q S K s h
|
j(a
.; *c
107
@a (6-7) &B
9 NI K> (3 FLO !" =?&Q B
. Va * tc(? E$BI ~; !

'

!" (1-6)
I($
H m p(O 3+ N B [ fVL (2-6) [ ] qI
.ECFGF H

$%&' ( # !" (2-6)
; *} g h
L| NC =?&Q u SfVL [\]+ [C
[ ]
. #IG8 &L N#>I W DI( h
L| :;< NC !a %D & NI S!CL
h
| .U S Q s h
| %e\ C K s h
| %e9 C 3? [8JI S
108
.L + ; < S SI 'FGF !
+ C ! tC u+ ~; s [?I =U
t
N O =LO .L I ~ S%e9 SI C .L + %e9 s C
S'FGF $ @ (
e9 [ ]
tC (\b+ S'FGF $ @ DB
C + R1 S

i (
; uI ~; s [?m Q s {| h
|
.8 q 1 uI(d
L =1 ~ . SI !
C h9 *
i s
3+
d ( q
| @I;< NC ei+ .
Aj Q s K s q
| N
. (Ts = 100 µs) L< q s >9 B ;? @K . D Sp(O
aw fG [s
g G h
| I(B+ NI s :;< :+, - *)
:EI 9 S4(y h
Li I(B+ B
S; *c h
Li
G=0.0085;
%========= SMC Parameters
Qs=100;
Ks=10;
2
1.8
1.6
1.4
1.2 1.806
Ia (A)
1.804
1
1.802
0.8 1.8
0.6 1.798
1.796
0.4
1.794
0.2 3.9994 3.9996 3.9998 4 4.0002 4.0004 4.0006
0
0 1 2 3 4 5 6 7 8
Time (sec)

1 23 #' $%&' ( .(/0 (3-6)
qI R1 S(3-6) [ ] 9 3 %3_Q 1> @ fVL [\]
109
.Q .(Bc( 9 EF 3 u) ,)
L$ Bc( =L1 G*I 3 .
;?I ~; ; *c &Lc u
ECFGF N DB) MBJI KG<F ;<
@ + 3 %3_Q KG<F . ~ S'FGF !
+ %3_w DB+ D D cL DC
* %3_Q N(
V @ 9 @ S4(y l$ * %3_Q KG<F
KG<F C x1> R1 S4(y l$ * %3_Q (4-6) [ ] qI . Va
. s :;< a(8 Q s K s ; *c h
Li NC @ !$
%e
250
200
150
225
Va (V)
220
215
210
100
205
200
195
190
50 185
180
6.9995 7 7.0005
0
0 1 2 3 4 5 6 7 8
Time (sec)

#' 4 2 56 783 9:' .(/0 (4-6)
Ks ; *} g h
L| NC e\+ NI s :;< :< - *;
A>?F . .nU s 9 (3
NC 8s ! H m Qs
:EI 9 q
| -C p(8 q s q

Qs=10;
Ks=100;
h
| C @ e|
M9 K s h
| C [Bc , t x1> | s
[?I K s h
| .U Q s C @ M9 K s C 3? [8I !CL . Q s
110
s Qs h
| [?I q1 S SI [I !
+ C ! tC u+ ~; s
. SI [I !
+ %3_Q ! tC u+ ~;
2
1.8
K s =10, Qs =100
1.6
K s =100, Qs =10
1.4
1.806
1.2
1.804
Ia (A)
1
1.802
0.8 1.8
1.798
0.6
1.796
0.4
1.794
0.2 3.9998 4 4.0002 4.0004
0
0 1 2 3 4 5 6 7 8
Time (sec)
< +, =&- > (& (/0 (5-6)
220
200
180
160
140
Va (V)
120
100
80
60
40
20
0 1 2 3 4 5 6 7 8
Time (sec)
< - > 56 783 9:' .(/0 (6-6)
R1 SnU s
D 3 s :;< 3 %3_Q (5-6) [ ] qI
111
&&(+ %&IK .
*
@ DKG< [C | s 3 %3_Q . x1>
[ @ @ t VQ SECFGF N Dc * g :;< MBJ+ .[I
nQ ~&Ì ~; B ;? @K C 8 cs .
KG<F 3 @
p8 @ + t
F KG<F 3 EC p8F .Q .[I &&(+ %&IG
%3_Q qI (6-6) [ ] m S4(y l$ * %3_Q KG<F 3 [i
KG<F =$ p8 1> @ R1 S| s 4(y l$ *
.(4-6) [ ] q :e
D 3
‫ ﻭﺍﻟﺘﻴﺎﺭ ﺑﺎﺳﺘﺨﺪﺍﻡ ﻣـﻨﻈﻢ ﺍﻟـﻨﻤﻂ‬P-PI ‫ ﺗﻨﻈﻴﻢ ﺍﻟﺴﺮﻋﺔ ﺑﺎﺳﺘﺨﺪﺍﻡ ﺍﳌﻨﻈﻢ‬3-6
:‫ﺍﻻﻧﺰﻻﻗﻲ‬
SPEED AND CURRENT CONTROL USING P-PI AND SLIDING
MODE CONTROLLERS
( N+ nQ [ SECFGF H
:&(8W 3 N+ B
N+ N q1 SECFGF N

3 N+ N R1 S3 N+ !
@ [ !

3 N+ 1 %m NI s :;< . P − PI NW (
Sg @ (10-5) [ ] q L< 9 τ K h
|
nU +(

%3 h
| ;< C 3? N R1
aL t+V [
f3 [ ]
Bc( ( C =?&Q ! S (τ = 0.005 sec)
e9 1 nQ xmz R S (Ti = 0.01sec) B
( @ (10-4) [ ]
f(? 3 Saturation &5 (b maQ DI N .3
d
FQ * Q =LL %& @ F N C t
Li Ha ( N
. (I max = 2.5A, I min = −2.5A) #3$ Fs
I( D& 3 ( N Nb fVL (7-6) [ ] qI
fG [s l$ & >m 3 ( N
L W .ECFGF H
@ P − PI N h
Li 1 NI .H m A( [ l$
L Q Saw
112
4(y (3
) EI lm Sg %$B (5-6) 01 (5-1) F&B
:(e\+ .
E< 9 +
%========= Saturation & Run-up Speed Parameters
Imax=2.5;
Imin=-2.5;
Ti=0.01;
Qs=50;
Ks=100;
%========= P regulator
tau=0.005;
zeta1=1;
wn1=(J+tau*f)/(2*zeta1*J*tau);
Kv=(wn1^2*J*tau-f)/K;
zeta2=1/sqrt(2);
wn2=wn1/(2*zeta2);
Kp=wn2^2*J*tau/(Kv*K);
Ki=wn1*Kp;
P-PI #' ?@&AB 3C #

# ?@&AB (& # !" (7-6)
O8 @a Nb fVL ;8+ l

M-File [\]+ B
[c @ V SOb [ ]
NI N .
I SMATLAB/Simulink
%3_Q (8-6) [ ] qI R1 S (ωref = 209.4 rad/ sec) Bc( ( C
.:B
[O [C I a 3 %3_Q (9-6) [ ] qI q1 S(
113
250
200 X: 5.219
Y: 209.4
ω (rad/sec) 150
100
50
0
0 1 2 3 4 5 6
Time (sec)
DB %& 9 3C .(/0 (8-6)
2.5
1.803
1.802
1.801
2
1.8
1.799
1.798
1.5
1.797
Ia (A)
4.9996 4.9998 5 5.0002
0.5
0
0 1 2 3 4 5 6
Time (sec)
DB %& 9 Ia (& .(/0 (9-6)
R1 S s :;< 4(y l$ * %3_Q (10-6) [ ] qI
[s l$+ (234V) h\
%& f(? * C . x1>
114
~V 4(y D * $+ [ JI B :;< (4sec) O EF
@ C Kd+ F U SU %ebC %(
B Fs (220V) EF *
.4(O EF * @ (6.4%)
250
X: 4.022
Y: 234
200
150
Va (V)
100
50
-50
0 1 2 3 4 5 6
Time (sec)
56 783 9:' .(/0 (10-6)
($I S4(O EF * K [ + F - B eIB

τG h
| e\+ K s , Q s ; *c h
Li NC e\+ nQ *1 Nb
R1 @ I& p8 1 !$
@ S3 N+ s
.( %3_Q
d ( SE + $g 7\ Q ( S3
d (
@ (15-5) [ ] 3 %3_Q (9-6) [ ] 3 %3_Q q
3
LO [ ]

8 C KG<F =$ C . qI Sg
.q ] >9 e9 1 nQ j] 3 I& 7
! ECFGF H N
e\+ lI() @ I(1 c3& ECFGF H N . nQ &LBI !CL ;<
.U SE#$ N %(mL e :;< I(s c3& q1 S; *c h
Li
.t [ * (8b [ * Q tc(? * C
115
l$+ 89 H [ ]
A(B :;< =>? @ B$
:;< G N< .Q .( 3 9(5 %&C ECFGF H K3L?
\

dF ( TB E I 7&U l r 3 E< K3Lg
. e\+ / (3
@ (
3 @ [ *c @ N*I ; *c h
L| lC 3?F .Q
:F Lc ! S I& Ir P(? *c @ N*I 9 SKG<F
.F N @ f(g #IG8 &LC nQ
%( 8 q+3L9; | nU q s 4(O ( ¡3_Q q
.3C (1
.(2-6)
( R1 @ (7-6) (16-5) qcVL q %& E 7& q
.3C (2
¢ @5 £C o S%(
B s 3+ * KG<F 3
dF
.fVL [9
3_Q ; *c h
Li e\+ (i £C (7-6) [ ] q fVL (3
:+/ Fs lm S( * 3
. Qs = 5, Ks = 50
. Qs = 50, Ks = 50
. Qs = 50, Ks = 5
116
‫ﺍﳉﻠﺴﺔ ﺍﻟﺴﺎﺑﻌﺔ‬
‫ﺍﻟﺘﻤﺜﻴﻞ ﺍﻟﺮﻗﻤﻲ ﻷﻧﻈﻤﺔ ﺍﻟﻘﻴﺎﺩﺓ ﺍﻟﻜﻬﺮﺑﺎﺋﻴﺔ‬
DIGITAL REPRESENTATION OF
ELECTRICAL DRIVE SYSTEMS

!"#$%

/0 12 .MATLAB & '( )*+ $% ,$
* -
:;! ;< + =($
9 % 67 $8 45 '3$ MATLAB & '(
G/! A!B/% /C :;/> D/
"E F>5 ' 67 >5 ,$? @$>
.Simulink HI 0 ,? '( Configuration Parameters
O!P/
K/Q /R% S KJ LM ' N 9 =
J
'!
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:‫ ﺍﻟﺘﻤﺜﻴﻞ ﺍﻟﺮﻗﻤﻲ ﻟﺘﺎﺑﻊ ﻧﻘﻞ ﻣﻦ ﺍﳌﺮﺗﺒﺔ ﺍﻷﻭﱃ‬2-7
DIGITAL REPRESENTATION OF 1st ORDER T.F.
'/! "/>"
/-
/% (>
9 %
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mi;
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dx x[k + 1] − x[k ]
= (7-1)
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dt Ts
k +1 n/
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6 h
(τ = 0.01sec) + (Ts = 100 µ sec)
k=1;
tau=0.01;
Ts=0.0001;
١١٩
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a1=k*Ts/tau;
b1=(tau-Ts)/tau;
%========= backward Euler
a2=k*Ts/(Ts+tau);
b2=(tau)/(Ts+tau);
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d :;
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/E H/
/I '/
/( Solver 6/
/7 ode1(Euler) 6/
/7 //>5
.Configuration Parameters
11
10
y
9
y1
8 y2
9.796
7 9.794
9.792
y, y 1, y 2
6
9.79
9.788
5
9.786
4 9.784
9.782
3
9.78
9.778
2
0.03810.0382
0.03810.03820.0383
0.03820.03830.0384
0.03830.03840.0385
0.03840.03850.0386
0.03850.03860.0387
0.03860.0387
1
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
! 45 67 +," # $ 3 -

./ 0 12 (4-7)
١٢٠
`/\ `-
6 h
($
9 % 67 ? 45 < =G-;

c2 ;z
/ :;/ =`/-
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m ,X2 (5-7) 6 h

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F+
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m 1| Runge-Kutta >5 ,$? " ! = (t = τ) H
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6 G m d
=$_ '! 4
^Z<+ = (t = τ) " (6.321V)

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12 y Runge-Kutta
y Euler
10
6.36
8 6.35
y Euler , y Runge-Kutta
X: 0.01
Y: 6.34
6.34
6
6.33
4 6.32 X: 0.01
Y: 6.321
6.31
2
9.95 10 10.05
-3
x 10
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (sec)
Runge-Kutta 5 5 67 +," # $ 3 -

./ 8 12 (5-7)
:‫ ﲤﺜﻴﻞ ﺗﺎﺑﻊ ﻧﻘﻞ ﻣﻦ ﺍﳌﺮﺗﺒﺔ ﺍﻷﻭﱃ ﺭﻗﻤﻲ ﰲ ﺍﻟﻨﻈﺎﻡ ﺍﻟﻮﺍﺣﺪﻱ‬3-7

PER-UNIT FORMAT REPRESENTATION OF DIGITAL 1st
ORDER T.F.
١٢١
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% N 9 =`
G-;

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G/$
MATLAB/Simulink & '( @l% mi;
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M-File %
k=1;
tau=0.01;
Ts=0.0001;
%========= digital filter
١٢٢
xb=10;
yb=10;
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B=tau/(Ts+tau);
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c2 y d ,XE I+ oJ
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10
X: 0.12 y
9 Y: 10
yd
6 X: 0.01
y, y d
Y: 6.321
5
2 X: 0.12
Y: 1
1
X: 0.01
0
0 Y: 0.63390.04
0.02 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time (sec)
(yb =10) (x=10) A &B @yd >&?: = < y +," # $ 3 * @ <!
./
12 (7-7)
(3-7) o h
od% ozi;
6? (5)
Fd\$ 1 :;_
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.+h
Y " y d + y m ,X2
1 O> Z = (x = 5) 6?"
-+ ( x b = 10) 6?"
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1 g
m/ 1 (8-7) 6 h
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@/- K? 2 ! i2 fHHI B$> 6 h
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5
X: 0.12
Y: 5
y
4.5
yd
4
3.5
3
y, y d
2.5
1.5 X: 0.12
Y: 1
1
0.5
0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time (sec)
(yb =5) (x=5) A &B @yd >&?: – < y +," # $ 3 * @ <!
./
12 (8-7)
8
7 X: 0.12
y
Y: 7.5
yd
6
5
y, y d
X: 0.12
2 Y: 1.5
0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time (sec)
(yb=5) (x=7.5) A &B @yd >&?: – < y +," # $ 3 * @ <!
./
12 (9-7)
/ (7.5) /

F/d\ " y d + y m ,X2 (9-7) 6 h
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L"/J;
6?"
1 G! =(1)
v+ "- y d m 1 }JU aJ =6?"

١٢٥
^Z< >"
@
,$? 1| Z <+ = [−1,1] KQ '( Kv! (x̂ = 0.75)
+ B/ m#
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,$? j h% ^Z< 67 .fHHI

7
y m/ y/ D
-U
T&$_9 ' N xM K;
' N <+ =(10) L+

+ = (k = 5) W
1 i2 U f R! . y b + x b o -U E x 6?"

. ( y b ≥ k × x b = 50) ,$? j Z " =(10) L+ 6?"

:‫ ﺍﻟﺘﻜﺎﻣﻠﻲ‬- ‫ ﺍﻟﺘﻤﺜﻴﻞ ﺍﻟﺮﻗﻤﻲ ﻟﻠﻤﻨﻈﻢ ﺍﻟﺘﻨﺎﺳﺒﻲ‬4-7
DIGITAL REPRESENTATION OF PI CONTROLLER
/d
>5 _," :;_ =6
G$
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¡$
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e b/_$
@% "d_+ =

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= Kp + i (7-8)
e s
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>+ >5 F+ `-
6 h
(7-8)
% $ ' N
y[k] = y p [ k ] + y i [ k ] = K p e[ k ] + Ts K i e[ k ] + y i [ k − 1] (7-9)
/& '/( f/-, PI @/% 6/R[ '/ N (7-9)

% f $
.(10-7) 6 h
od! ;< MATLAB/Simulink
PI AD < *( <&E F' (10-7)
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c+S /d % '! 6
G m? @ mi;¢ (11-7) 6 h
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١٢٦
6 h
od% `-
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:`> M-File '(
k=1;
tau=0.01;
Ts=0.0001;
%========= backward Euler
a2=k*Ts/(Ts+tau);
b2=(tau)/(Ts+tau);
%========= PI controller
Kp=5;
Ki=kp/tau;
,X2 6l =(12-7)+ (11-7) ozi;
`? (1)
Fd\$
1 }/JU aJ =(13-7) 6 h
od! ;< o_+,"% ozi;
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y m ' $¤
>+ >5 F+ `-
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y d m
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7 y d m+ y m
1.2 y
yd
0.8
0.988
y, y d
0.987
0.6 0.986
0.985
0.984
0.4
0.983
0.982
0.2 0.981
8 8.2 8.4 8.6 8.8
-3
x 10
0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14 0.16 0.18 0.2
Time (sec)
y +," # $ 3 * .9: ./ yd * .9: ./

12 (13-7)
:‫ ﺍﻟﺘﻤﺜﻴﻞ ﺍﻟﺮﻗﻤﻲ ﻟﻠﻤﻨﻈﻢ ﺍﻟﺒﻄﺎﺋﻲ‬5-7

DIGITAL REPRESENTATION OF HYSTERESIS CONTROLLER
@/% 6/R$ 1 :;_ =`! $
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k+"J " (0)+ =7
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Fd_ ! #
( a = 0 ) if e = x ref − x < ( eps / 2 ) elseif ( a = 1)
( b = 0 ) if ( e = x ref − x < 0 ) elseif ( b = 1)
c [ k ] = c [ k − 1]
/ % 9/7 G/ @3> J K+"z @ ' N Fd_ ! ¥
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/h
F/~ M\ ,X2 i2 1 .K+" '! §R
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m
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a b c[k-1] c[k]
0 0 0 0
0 0 1 1
0 1 0 0
0 1 1 1
1 0 0 0
1 0 1 0
1 1 0 1
1 1 1 1
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c [k] = c [k − 1] a + a b (7-10)
6 /h
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Data Type Conversion l
jz @$_ h% ^Z< 67
mi;/
F+ L =mi;
4_ jJ ?¨ c2 6 X '! d
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c2 R
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>+ >\ (18-7) 6 h
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12 y
yd
10
8 10.5
X: 0.8001
X: 0.8002
Y: 10.37
10.4 Y: 10.35
y, y d
6 10.3
10.2
4 10.1
10
2 9.9
0.7998 0.8 0.8002 0.8004 0.8006
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec)
+," # $ 3 * @< QR9: y yd .P

12 (19-7)
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‫ﺍﳉﻠﺴﺔ ﺍﻟﺜﺎﻣﻨﺔ‬
‫ﳏﺎﻛﺎﺓ ﻣﺒﺪﻟﺔ ﺍﳉﻬﺪ ﺿﻤﻦ ﻧﻈﺎﻡ ﻗﻴﺎﺩﺓ‬
‫ﳏﺮﻙ ﺍﻟﺘﻴﺎﺭ ﺍﳌﺴﺘﻤﺮ‬
DC-TO-DC SWITCHING CONVERTER
SIMULATION IN DC MOTOR DRIVE SYSTEM

!"# $ % &'()

7
8(9 &'( 6 ) 1$ 4! 0" 1"2 3() 45 .*+, $-.+
4 %5 &(.D C. E# F) (1000V) BC$ $< => ?@! A (. 3: (;
F) NC$
1"#
$
) &L". *M J &() G 0H >I JK
P5 68 '"Q R '(. ST(
*UV! F) & 3O 3: $-.+ *+,
WXY8 68Z J8[ 6 NC$
W " 3>J(
\T &0" $< ]
.4I C$ 3(= `$, aU! &C.)% _ 3>C^
de.
F) 1 f d
S[ ?@. V
" 3VD WDb c
&38g7 3)@.8+% 1CfI $VU 4 d
( A % '( 6 c %5 &
3UC.8+U 8=)
&$8=b 38$R 38(. 3@8+ 3] $ % \J
&d
8 S[ F) i@ $=b ) 1Cj S.h =>[ c V! &3UC.+L.
.1`V (; C.)% _ J[Y! k]
38)C $8=b 38$ 18"eR V
+ 3Db BJK Pl 3] c
C8. E8# 1` (; 3Cl Cl c ( (. WC.+L.
135
.(.D
) (.D C. E# F) '() ?@! >h V
+ 3 3] c
BJK c ." m de. C@ 3X7X 3UC.+UX $=> 3$ $-.+ ?Un
6 3)D d
. V
+ p &C. d
! 4$ 3)D d
. V
+ &3( 3Uo.
.3. – 3+
. 3U$V. W(
$-.+ _., 7" c &C. d
!
:‫ ﻣﺒﺪﻟﺔ ﺍﳉﻬﺪ ﺍﻟﱰﺍﻧﺰﺳﺘﻮﺭﻳﺔ ﻋﻨﺪ ﺍﻟﻌﻤﻞ ﰲ ﺍﻷﺭﺑﺎﻉ ﺍﻷﺭﺑﻌﺔ‬2-8
FOUR-QUADRANT DC-TO-DC SWITCHING CONVERTER
8 (.8D C. E# 1` c 3$-.D DC-to-DC $=b 3$ rs.!
.(1-8) c _ K (" W.+L! 3C
T1 D1 T2 D2
Vdc Vout
T3 D3 T4 D4
u u u u
Switching pulses

(1-8)
c .38$ WC.+L! F) Wt

?@! 3VUn ?9 () ' E
K
j d.U T1 (T2 ) C.+L. F) uv j Wt ?@! d.U wl

'8l B8y% c E82 z! Ù $
) &dx` T4 (T3 ) C.+L.
UC.+L. }) E2 C! A & TPWM 3t
C` t on L w7[ .('D)
T4 (T3 ) C.8+L. }8) C. C d.U t off L w7[ T4 (T3 ) T1 (T2 )
136
: Vout S^ $=> 37) F@~! 3, BJK c . D 3 (D 4 ) Ù$
t on
Vout = Vdc = αVdc (8-1)
TPWM
t on
.Duty Cycle z. w$ (α = ) k]
TPWM
38Cl WC.+L. F) uv j Wt ?@! d.U
c
T4 T1 UC.8+L. 8j d.U & TPWM 3t
C` t on L w7[ .
4U k $e9 t off L w7[ & T3 T2 UC.+L. u9
c 48U &'l By% c E2 z! Ù $
) ( t on > t off )
( t on < t off )
Vout S8^ $=> 37) F@! 3, BJK c .'D By% c E2 z! w]
:
t on
Vout = ( 2 - 1) Vdc = (2α - 1) Vdc (8-2)
TPWM
:‫ ﳕﺬﺟﺔ ﻣﺒﺪﻟﺔ ﺍﳉﻬﺪ ﺍﻟﱰﺍﻧﺰﺳﺘﻮﺭﻳﺔ‬1-2-8

MODELLING OF DC-TO-DC SWITCHING CONVERTER
8
c ( $
) 3$ 3>J(
3Db BJK w7[ V
+
. WC.+L! 3C ()
:'U (" z. w$ F) wu, A (8-2) 3`
Va_in 1
α= + (8-3)
2 Vdc 2
S[ i@ $=b dDV! ?Un ) α z. w$ F) wu, d.U
3UC.8+L. 38$( J8z (.D $=b r; F) Va _ in (Vout ) W(

α z. w$ 3( 4 P5 B.% *M .!
P5 (0.5) 3(V 39;5 (2 Vdc )
(8; α z8. w$ 4U (8-3) 3` *D] . [0,1] w (; .!
4C$8 $8
) [0, 0.5 ] w (; &'l By% 4C$ $
) [0.5,1] w
137
3Uz8j 3( (1) 3() 3( `$# u
) 39;5 *M \J &'D By%
WT 38] 3 1Cf5 6 z. w$ 3( 1CfI 3CV d.U \T $ .(0)
8u
8 K$8! A (7 5kHz ) _ ``! $] D w@
38o.
u k] &Sources 3)v 3. `> Repeating Sequence
6@.8D Relay 8u
68; .3> [ 3+ d 1Cf5 F) 3CV
$8
) ‘0’ 3(V F) &3> v 1Cf5 4! $
) ‘1’ 3(V F) wu,
&3$ WC.+L! F) =V@! *> Wt
'K &3+ v 1Cf5 4!
*8> $=b F) wu, d.U .3+C$ 3$ ST (2-8) _U k]
:3. 3` $-.+ ?Un ) 3$ S[ E2 F) V@!
Vout = Va = ( 2 u - 1) Vdc (8-4)
.WC.+L. F) =V@! *> Wt

) u }! k]

!" (2-8)
‫ ﳏﺎﻛــﺎﺓ ﻧﻈــﺎﻡ ﻗﻴــﺎﺩﺓ ﳏــﺮﻙ ﺍﻟﺘﻴــﺎﺭ ﺍﳌﺴــﺘﻤﺮ ﺑﻮﺟــﻮﺩ ﻣﺒﺪﻟــﺔ ﺍﳉﻬــﺪ‬3-8

:‫ﺍﻟﱰﺍﻧﺰﺳﺘﻮﺭﻳﺔ ﺍﻟﺘﻲ ﺗﻌﻤﻞ ﰲ ﺍﻷﺭﺑﺎﻉ ﺍﻷﺭﺑﻌﺔ‬
SIMULATION OF DC MOTOR DRIVE SYSTEM WITH
FOUR-QUADRANT DC-TO-DC SWITCHING CONVERTER
3Db (16-4) c _ 1`V 1"eR 1Vv BJK c V
+
d8
!
JK c .(2-8) c 3
3UC.+L. 3$ 39;5 6 3
C. $U$ 6 &PI d
$-.+ C. d
! 6 P − PI d
$-.+ 3)D
$ 3(V (2.5A) F( 3(V F) 3)D d
S[ F) i@ '>
8g 8 SC$8. 8 8[`5 d.89 38> 3)D .(-2.5A)
138
(TPWM = 0.0002 sec) 38 38, 1CfI C` C.[ . (Ti = 0.01sec)
. (Ts = 0.0001sec) W
J[ C`

#$% & % '%
()' !" (3-8)
:E2 W.C Q M-File (; 3. W7 w[`h V
Ts=0.0001;
TPWM=0.0002;
Vdc=235;
Ti=0.01;
Ia_max=2.5;
Ia_min=-2.5;
Kp_i=10;
Ki_i=Ra*Kp_i/La;
%========= P speed controller
zeta1=1;
wn1=0.5*(f/J+Kp_i/La)/zeta1;
Kv=(wn1^2*J*La-f*Kp_i)/(K*Kp_i);
%========= PI speed controller
zeta2=1/sqrt(2);
wn2=wn1/(2*zeta2);
Kp_w=wn2^2*J*La/(Kp_i*Kv*K);
Ki_w=wn1*Kp_w;
V &(3-8) c _
1"2 >5 ?D M-File Jv
! $
.(4-8) F) ue
9 V f F) 3 3, 1CfI d+
139
1
1.2
0.8 1
0.8
Carrier Signal 0.6 0.6
0.4
0.2
0.4
0
0.2 1.99981.9999
1.99981.9999 2 2.00012.0002
2.00012.00022.0003
2.00022.00032.0004
2.00032.0004
0 1 2 3 4 5 6
Time (sec)
( Ts = 0.0001 sec) $* +
,-
.,. /01 (4-8)
(Ts = 0.00001 sec) $* +

,-
.,. /01 (5-8)
8KC` w7[ V9 _.( J[s! 3 1CfI 4 ]7 (4-8)
W8
J8[ L C.[ *D] 'n JK & (TPWM = 0.0002 sec)
08H 38VU@ BJm Wt
$! 3() 45 .3 1CfI C` ru wÙ J
140
_ 6nV. W%] V.
(DU D 0 W
J[ g 4l &ej
38(V P5 W8
J[ g 0zu. V
+ J &3> 1CfI 3, 1CfI
J8[ d.8U
_.U $U$> 3, 1CfI d+C $
) . (Ts = 0.00001sec)
.(5-8) c _ K (" 3, 1CfI 3@V U)
_8 c 38
x.
3CV (3-8) c _ ST(
z.
]7 &3 3Db (21-4) (20-4) _ c 3
0
(7-8) (6-8)
c 8=5 C8 0
$] P5 3=f (6-8) c 3
3)D 1Cf5 4
c 08" 8 r. (7-8) c 3
C. 1Cf5 4 %5 &3 3Db
.18 1V.D W%, c WgL.K ! ej (" &1 W%,
JK 0zu! 4 T5 &W
J[ g ) !
3$ c s@^ P5 7.[% JK Ù
*8DU 8G &3, 3> _!CfI _ 6nV. W%] V. (tU % L
3o.8+ '@U JK &3$ WC.+L! F) =V@! *> Wt
c ]UL
.L C." 3UD 3, W%e. 3eej 0H
200
150
100
50
ω (rad/sec)
-50
-100
-150
-200
0 5 10 15
Time (sec)

$7" & 6% 2 3
4 /05 (6-8)
141
3
2.5
1.5
Ia (A) 1
0.5
-0.5
-1
-1.5
-2
0 5 10 15
Time (sec)

$7" & 6% 2 3 /05 (7-8)
]7 .(8-3) 3`

) } α z. w$ 1Cf5 (8-8) _U
$8=b 1C8f5 U$8! (tU JK & [0,1] w (; .U z. w$ 4
.3H 0H f5 W%] c w[$ 4` eu
1
X: 13
Y: 1
0.8
0.6
α
0.4
0.2 X: 5
Y: 0.09959
0
0 5 10 15
Time (sec)
8 9 /05 (8-8)
142
dV F) ( $
) (1) 3()l 3(V J[sU z. w$ 4 ;
w8 (8; 8.! 8( '@U 'D By% E2 () 4 (" &3%
38% dV F) ( $
) 3()l 3(V J[sU z. w$ 4 R . [0, 0.5 ]
_U .4 (, 3)D 4 n 4U 4 *M E2 F) ?@ $=b 4h9
$8=b 4 8]7 k] &$=b 3$ S[ F) !
$=b 1Cf5 (9-8)
(.D $=b 4l \T z. 1$ " F) 3+ 3> Wt f J[sU
&Ee( '% $=b }" 3(V BJK &(235V) 3( J[sU 3$ JzU J
.(235V) $=b (220V) $=> $. 3g7 Wt
?@! d.+ .
500
300
200
400
100
300 -100
-200
-300
200
12.9995 13 13.0005
Va (V)
100
-100
-200
0 5 10 15
Time (sec)
:; <, =>%

? @ A' (9-8)
4h89 *> By% E2 (U $

) ]7 (9-8) P5

g8o.! z8! 1$8 (+Vdc ) 3(V J[s.+ 3$ S[ F) 1K Wt

*D By% ( $
) & ( t = 13sec) 3e $
) 5 C K (" (50%)
1$8 (−Vdc ) 3(V Wt
J[s.+ &(50%) 4.+ z. 1$ 4h9
8u+ z8. 8g 4h9 3Uvj 3)+ *n $
) JK & (+Vdc ) wn
143
38(V 48! K$
) 3D
WJ (−Vdc ) (+Vdc ) ?@! d.+ &(50%)
.vu D! E2 F) ?@ $=o 3@+
(U 1`V 4h9 &$=b 3$ 3>J $
) .
.D ?+ G
18"2 38VUn $-.8+ P5 Ù JK &1 W%, c ju[ &eu
] 3$ c @[ *D! &(Fixed Step) 3. 1@^ 3VUn F) 1$(.
J8v
! F8) d(u } 3VU@ BJm
) 7 t9 &W
J[ g 0zu.
(
1C8fI V 0" `$) *> 4(t $> 0zj W
) J[ L .gC[
.'( 6 dx7U R 1"2 3VUn 0z! P5 3VD i+l `V! .3, 3
‫ ﳏﺎﻛــﺎﺓ ﻧﻈــﺎﻡ ﻗﻴــﺎﺩﺓ ﳏــﺮﻙ ﺍﻟﺘﻴــﺎﺭ ﺍﳌﺴــﺘﻤﺮ ﺑﻮﺟــﻮﺩ ﻣﺒﺪﻟــﺔ ﺍﳉﻬــﺪ‬4-8
‫ﺍﻟﱰﺍﻧﺰﺳﺘﻮﺭﻳﺔ ﻭﻓﻖ ﻃﺮﻳﻘﺔ ﺍﳋﻄﻮﺓ ﺍﳌﺘﻐﲑﺓ‬
VARIABLE STEP BASED SIMULATION OF DC MOTOR
DRIVE SYSTEM WITH DC-TO-DC SWITCHING
CONVERTER
&(Fixed Step) 38. 1@^ (
( $
) W= " *D
BJ8K $v! .(Variable Step) 10z. 1@^ P5 1"2 W`$)5 U$. V
+
8 VU k] &X 0H 1"2 1$ (; W
J[ g > c 3VU@
J[ 3
gs K$
) 1"2 M 0z. 7[ $Q V
$U$e. MATLAB
'8() W
) J[ g ?9 W
J[ d.9 1V.D 3, c .3v.¡ W
)
8V &Configuration Parameters 3ev8j c .$-.D B$U$ A
'8( 8, 38VUn C8.[ &(Type) 6 10z. 1@^ 3VUn C.[
Ts38(V F8) t9 (Max. step size) 6 .(ode(Dormand-Prince))
8t9 Relative tolerance ¢D
i!C7 3D
&'() W
) J[ L"
.3;.9% 3; F) 'K (" FV.9 W.C 3V . (1e − 3) 3(V ?9
$
) 3. 1@^ 3VUn 3 7 " 10z. 1@^ 3VUn }.~! &6 c
144
3gC^ 3." ?Un ) () Jv£
U~ 1`V 4l \T &3$( 1"2 >5
3( 3Q Wt
$! 4 _] c &3(C 3Qf (; f F)
38gC^ Jv
! g 4 k &3gC^ Jv
! g ) wLR dx` (U
d(u F) ¤vU C.)% JK 45 .3, 3 1CfI C` go.U % V9 *M
`$2 W
J[ g w7[ (3-8) c _ 1`V 3gC[ Jv
U 4
3$ W" 3. 1@^ 3VU@ 1`V W" 1"# >5 d.U & Ts
8u
) $-.8+ V 3;v BJK ?Ve. .10z. 1@^ 3VU@ E2 $=b
1`8> Discrete 3)v 3. > A J Zero-Order Hold \+
1`8> 3(V \D 'K u
JK 3v 45 .Simulink 3Dx 3. (;
3( F) 3
\D g t
( $ .d(u B`$Q L 1$ >[ F)
8u
) w7[ =V@! d.U 3( 3U 4 U JK & Ts '()l W
J[ g
8( &Jv
. k] U JK & Ts g "
P5 [$.+ h9 &\+
ST8(
U$! d.+ ?+ F)
.V+ =) $.) 3. 1@^ 3VU@
W8
8g $U$ 1`V P5 \+ u
) 39;h (3-8) c _
. Ts L 3( F) 9 3[$ j
6(b
3)(O rs.U &d(u 1`V
w$ ST(
(10-8) _U
.=5 \+ j
) 39;5 1`V L> (t.! ?U`
j
/B8 />C , 9 ! (10-8)
145
d8
. ¥^ P-PI d
F) (PPI ω Controllers) F(D E .Q
8 c _8 K (" W(
SC¡ c 3$-.D \+ j
) 6 3)D
.(11-8)

4 () :,
,?
(11-8)
C. `$# 6 C. d

F) .e9 (PI Ia Controller) F(D E
.(12-8) c (" C. d
S[ F) ; \+ '>
() :,

,?
(12-8)
F8) \+ w[`h \T rvn U$! d.U D9 SC$ E
.(13-8) c _ K (" V9 S[

4 :,
,?
(13-8)
.(14-8) c ; =9 &WC.+L. 3)C $=b 3$ E
/B8 />C
DE =F%
!" (14-8)
146
8 c 8; ST(
z! &B.% *M K "J U$b
c 3$-.8D \8+ W" 6Z W
) J[ g ; 1C; P5 &(10-8)
$=b 3$ E c $-.D \+ $) & Ts W
J[ g 3( F) ST(

38 1C8fI 3+
3@V
$! 4(t \T & ( Ts ) 3(V F) t9
2
38+
3@V
$! 4(; &z. w$ 3( 6 =.CV $)u Lb w7[
8
C.) &z. w$ 3( 6 =.CV Lb w7[ 3 1CfI
'8() W
) J[ L (Variable Step) 10z. 1@^ ?9 1"2
. (Ts max = 100 µ sec) BC$
c 3[$ [l j
W" 6Z ; 1C; P5 tU B.% *M
1C8f5 $8 &C8. `$# &6! &C ) &Cn &6>) 1`V d(u!
P5 w[$8 ?Un ) Ts W
J[ g 3( F) (... &'x@ d
&1(.D
. Ts 3(V F) (Sample time) .C `$)5 1$] F) u
) " ¦xu[
W8
) J[ g F) =@; A 79 &W7 PI W(
( 3D

8K (" &=>[ F) \+ 6; ?Un ) >I JK Jv
! A \J &`$#
.(C =(. &d(u ST(
c w,
¥8^ M-File r8 WT F8) `(.) &3@ W >I Jv
! $
c _8 w$8 ST(
z. V &3-8 1Vv c W(
X iD
_U (" &3, BJK $
) 3)D 1Cf5 (15-8) _U .(10-8)
.¤e. C! 1Cf5 (16-8)
(20-4)_8 c _
8 (=U0 6 (16-8) (15-8) _ 3CVR
?89 3$ 3>J $ C. 3)D §Cf5 4 ]7 &3 3Db (21-4)
6 0" 1 1V.D _., c 0 F) ?@
! 10z. 1@^ 3VUn
147
P5 i8 JK &3$ S[ c !
$=b 6@V! ) ! C. c >Cs! `>
.'( 6
250
200
150
100
50
ω (rad/sec)
-50
-100
-150
-200
-250
0 5 10 15
Time (sec)
/B8 />C
D> %
#$
4 /05 (15-8)
2.5
1.5
1
Ia (A)
0.5
-0.5
-1
-1.5
0 5 10 15
Time (sec)
/B8 />C
D> %
#$ G2 ' /05 (16-8)
08H 3x8)
< V
=! ]7 &3, 3 1CfI P5 >
148
`8U JK &(17-8) _U (" &10z. 1@^ 3VUn ?9 =C $
) 3(.

`8(.) $
) 1Ct *D] xV! W
J[ g w$! MATLAB 3: 4 P5
8 1T[s8 8V
39" 4 ]7 (17-8) .10z. 1@^ 3VUn
3, WT ?n
c &1) W%] ! ?n
c L".! 3 1CfI
$
) F) w$U JK &d.
3 1CfI f X V
`$) 4h9 1V.D
z8j L W
J[Y! 5 & Ts W
J[ L $V. d.U % 1 W%,
.z. w$ 1Cf5 3 1CfI _ 6nV. W%] V.%
/B8 />C
D>
,-
.,. /01 (17-8)
38VU@ 8( 8
) *>.U h9 &$=b 3$ 3>J $
) $ ?+ G
8
38$ k] t9 ` ?VQ '( 6 6 7.U R 10z. 1@^
.d(u 1`V
PRACTICAL APPLICATION :‫ ﺍﻟﺘﻄﺒﻴﻖ ﺍﻟﻌﻤﻠﻲ‬5-8
% &3((8u 1`V 3(l '( *UV. 3(. 1"2 =.% $
149
BJK &3)D de. 3((u WgC^ a '() ?@! >5 $
$
8+ .3Cl Cl c (
¨ 3UC.+UX 3$ $-.+ ?Un ) 1

:§© *!. ?9 iCy 7X ?@. V
+ p 3o. W F) . %
.3].v 3V] (; 3)D 0z! ª
.C. d
! 4$ 3)D d
! ª
.C. d
! 6 3)D d
! ª
TEST RIG COMPONENTS :‫ ﻣﻜﻮﻧﺎﺕ ﺍﳌﻨﺼﺔ ﺍﻟﻌﻤﻠﻴﺔ‬1-5-8
.3)@.+% 3] 1`V 3] « _DxC UL> 3o. 3] rs.!
.3UCt W(D. dK 6 3o. 3] @¡ (18-8) _U
.( fY z. .v (4) (1)
8V! &K2 uv UC 'x; fY 6 3[$ w@)l 3 (3) (2)
:3!© w@)l 3R 1$] BJK
.Cnl $] c @) ª
.7HI g Cnl ! c s@[ ª
.$xL (e. ª
L8b 8) 3UJz. uv K2 U V! 3VD w@)l $] $] $
)
.')@.+%
(-10V to 10V) UC^ $] (; '> $=b wO C.[ .v (5)
.(0V to 10V)
.3> ( 3@V 1U 10z. 3V (6)
.Run up SC$. w[Ì 1U .v (7)
.Overload rf" 6 PI '! – ¢+
! 3)+ d
(8)
150
.KPN 3)D d
¢+
. 1U .v (9)
8 P5 B.% *M) 3)D d
'. L 1U .v (10)
.(KIN iV TN/s JK w[`5 d.U
.1$] F) 3$ '()l C. $U$e. C. L `$# (12) (11)
.` 3> 1Cf5 =>[ F) '@! 3V@ 3(V 1$] (13)
N8V 1`C 3D 3UJz. 1CfI Kn 1U( C ) (14)
.(."!) 3)D
.Overload rf" 6 '! – ¢+
! C! d
(15)
.C. d
¢+
. 1U .v (16)
.C. d
'. L 1U .v (17)
.3] aUCs! [$ (18)
&8V(" 8( $
) (19) .v $-.DU &$V 3Ug `$# (20) (19)
.3V" ( $
) (20) .v
.C] 3>C` v!C 3U(e 3© 6 =j *> nl (21)
=8[` F) 'm! $=> ?@! d.U k] &$V Wt $! 1$] (22)
w8 (8; $V Wt =>[ F) '@! &(0 to 10V) w (;
.(0 to 180)
.(.".) 'm. 3)D ND] j! WU (23)
8fY $8>U (" &() 3 3 3U $U$e. *[ de. (26) (24)
.=() $
) 'tU 3$ 'x;
.3] 6 j n ¤e. 3UJz! (30) (25)
.3] 6 j n 3UJz! 1$] (28) (27)
. 1C` 3U(, 3UC] 3(j9 (29)
151
(C. d
! $
) '++ $-.D~!) E2 C! NV C! 3# (31)
.WC.+U 3U(, 3UC] dj9 (32)
SC8[ C8. 1Cf5 c 0z. $j $-.D~U &C. 1Cf5 0z. `$# (33)
.m (D 1J9
wO
.3+
3$( ==>! $V Wt 3R V! 3V@
1C` (35)
J8 6 F) 3%$ 3x; WfY 3C 3 C= 5 1$] (36)
.3Cl Cl 3©
(; (!
.1`V WC` 3UJz! 1$] (37)
.')@.+% Lb P5 3UJz. j uv VU C."." (38)
$8
) C8. By 3V@
1C$ c $-.D~U (C!) L) 4CV (39)
.[l P5 _.$ $]5 wV.% &E2 F) ?@ $=b
U
.1`V WC` 3U(, 3UC] 3(j9 (40)
:‫ ﺗﻐﻴﲑ )ﺿﺒﻂ( ﺍﻟﺴﺮﻋﺔ‬- ‫ ﺍﻟﺘﺠﺮﺑﺔ ﺍﻷﻭﱃ‬2-5-8
1st TEST – OPEN-LOOP SPEED CONTROL
F8) =n d.U 3
3)+ ?9 E2 z. 3o. BJK w7[ V
+
$8! 1$] F) (7 dC 1$]) $=b SC$ S[ ?@ $=> 1Cf5 f
*8D] 3
3UL $ Wt P5 $=b JK Ue. KC$ V! &Wt

8 _8U .3)D 0z. `YU G U$U B0z! d.U J &?@ $=b 3(
.Pl 3o. 1C` j! @¡ (19-8)
1st TEST STEPS :‫ ﺧﻄﻮﺍﺕ ﺍﻟﺘﺠﺮﺑﺔ ﺍﻷﻭﱃ‬1-2-5-8
.(19-8) _ K (" WC$ j. d ª
.=. r F) 3UJz. `> $"s! ª
.3
3( F) .X &(6) 1$] ?Un ) 3> ( 3@V 0z. d ª
152
H%
I4
J
K (18-8)
153

KO
D,- N) @
4 B8'
L >M (19-8)
.i@ '> $=b 3( > 3)D 3R d ª
154
3V, c (
C.) F) 3)D ¤v¬ ]% E2 (e. d ª
.3].v
1$8] w8[`5 $ % &k wl _ c ( $
) 3)D 0z. ª
&d
. 3( PI d
$-.+ 1C; P5 39;5 &(13) 3V@ 3(V
&3+
3$ P5 Wt
>. (39) 4CV ?Un ) By% $U$e. 5
.3, BJK $
) 1C$ j! 3v" (20-8) _U
:‫ ﺗﻨﻈﻴﻢ ﺍﻟﺴﺮﻋﺔ ﺑﺪﻭﻥ ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ‬- ‫ ﺍﻟﺘﺠﺮﺑﺔ ﺍﻟﺜﺎﻧﻴﺔ‬3-5-8
2nd TEST – SPEED CONTROL WITHOUT CURRENT
CONTROL
'm8. 3)8D ND] _$-.D 3)D d
. V
+ 3o. BJK c
8;
) *>! 3(V BJK 45 .(1V/1000rpm) 3D
'@U J (.".)
38UJz. 1C8f5 c 6 3@ 3)D 6 7.U R i@ '> $=b
$8=b 08z! *o9 [ 3)+ ND]
$-.+ T5 &(14) 3)D 3D
3)8D ND, 1$U$b dV J[s 3@ 3> 3)D v > '>
.3Cl Cl c (
+
() &C.)%
2nd TEST STEPS :‫ ﺧﻄﻮﺍﺕ ﺍﻟﺘﺠﺮﺑﺔ ﺍﻟﺜﺎﻧﻴﺔ‬1-3-5-8
d
S[ j (20-8) _ K (" WC$ j. d ª
.(13) 3V@ 1CfI 1$] [` 6 '. – ¢+
. 3)D
.=. r F) 3UJz. `> $"s! ª
68 7.8U R (6) 1$] 3
3V ?Un ) '> $=b 0z. d ª
.3@ 3)D
.PI 3)D d
X t d ª
&38> 3(V P5 `) 3)+ 3)D ¤v¬ ]% E2 (e. d ª
155
.t9 d
X ; F) $)D! 1@^ BJK 45
P.% 9% Q @

4 B8'
L >M (20-8)
8`) p &3)D c 3:>v 1ÙL tU ]% E2 ) (, 3gh d ª
156
.3@ 3> =.( P5
:‫ ﺗﻨﻈﻴﻢ ﺍﻟﺴﺮﻋﺔ ﻣﻊ ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ‬- ‫ ﺍﻟﺘﺠﺮﺑﺔ ﺍﻟﺜﺎﻟﺜﺔ‬4-5-8
3rd TEST – SPEED AND CURRENT CONTROL
d
8 $8 C8. d
39;5 d.+ s =.V+ ) 3o. BJK r.
c ( V
+
() &C. 3)D '(
X ;
) *M &3)D
.3Cl Cl
3rd TEST STEPS :‫ ﺧﻄﻮﺍﺕ ﺍﻟﺘﺠﺮﺑﺔ ﺍﻟﺜﺎﻟﺜﺔ‬1-4-5-8
.(21-8) _ K (" 1C$ j. d ª
.C. 3)D '(
X t d ª
68 7.U R &(6) 1$] 3
3V ?Un ) '> $=b 0z. d ª
.3@ 3)D
3> =.( P5 `) (e. $
) 3)D 3( 0z! ]% z. $
) ª
38. 3V, 'K C. d
! 3V] 4l &(e. $
) ``LU C. 4 _] c
.1$xV D
d.! ® 1 j FV! (.D C. W"# 1` 3(l 3(. 3>J(
45
8 =.=> ) *M d(u F) 1$U$> ` ¤v! &$=b 3$ 3>J
.'( Jv
. $
Dc-to-Dc $8=b 3$ D ST ¯$V! &3Db BJK w7[
@.+
8u 4
A % &$=b 3$ 3>J $
) .3Cl Cl c (! Converter
3VU@ ( P5 o J &3. 1@^ 3VU@ ( $
) 3eej x. F)
a8 8>5 8 $8 % .0" '( 6 '" &10z. 1@^
x.
" $ &10z. 1@^ 3VU@ ( $
) d(u ST(
F) W7U$.
157
.3(. x.
3V9 U$. >5 $ =) wu,
%
4 ()'
L >M (21-8)
158
$-.+ (.D C. E# 1`V WgC[ 1$) ?@! &3Db 3U c
$8(.! &3U}¡ 3u
F) 1Jv
iCy f F) C@ 3X7X 3UC.+U 3$
C8! E82 3)+ d
. 3U$V. 3. – 3+
. W(
$-.+ F)
.;e.
3VU@ ( ?9 $=b 3$ 3>J(
d &(3-8) c _ ST(
c (1
.WC.+L! 3Cs ( $
) 0
x.
4C &V9 UC.+L!
159
160
‫ﺍﳉﻠﺴﺔ ﺍﻟﺘﺎﺳﻌﺔ‬
‫ﺑﺎﺳﺘﺨﺪﺍﻡ ﻣﻨﻈﻢ ﺍﳌﻨﻄﻖ ﺍﻟﻌﺎﺋﻢ‬
DC MOTOR CURRENT CONTROL USING
FUZZY LOGIC CONTROLLER

PI

23 40 1
- / . ' ()* +,- "#$%# &' !
=
>? <
()* 89: ;! - 567! 0/ / ' 0
Fuzzy Logic (FL) C +AB>! +,- PI 5@ !
.K =?) F G HI JED )
R6A/ S
EP JT ;!
A'U Q0 NM OP 'E
E > O7 4A%" 1VW XJT ()* ;! X1>-9 XJ, 8 Y
Z[
"9 ()* _K/D .\T N: ]

"9 ;!
A'U
^[
$'E .5 O7 E ) + N'
O!E =JT BG 1'# `'
d[A 6E \cA' bW 5YH + ' ;! (a^ ; C !
.O7 +%
N:! eI N: R! N!/ # C '! 4I +A ;!
8M U I) 8f )* ;'6 N: " ):g/ hW (1) I (0) &G ]'" N/
!
1l 8f ;'6 `mEI n E 5%oG ' ()* \T
.('K 56>E :j
١٦١

% E \T " aZ )* 4W .
! `'" Q +, N" ;!
OP 9` H JDE )* C +,- 5'/ 1

p 8A7! aZ/
.
'? ' FA%I r B! s/ S q$*#
:‫ ﺗﻨﻈﻴﻢ ﺍﻟﺘﻴﺎﺭ ﺑﺎﺳﺘﺨﺪﺍﻡ ﻣﻨﻈﻢ ﺍﳌﻨﻄﻖ ﺍﻟﻌﺎﺋﻢ‬2-9
CURRENT CONTROL USING FLC
! +,- I a 0 #̀ I I-
%1A/ '?
'K/
>? - . PI =1g 5@ FL
'- .<7 0/ +, PI (a 51I
%0!
\0t N:'? C ! =
>? n@ X1 + ''K/
.+, 2l
-0 x-W wc E v #̀ I + NM OP Ou A"
CG 8f ;'6 n / `'" ):g/ N:! 4I +A ;!
R A/ 7! 5@ R A/
yy! R A/) +, ;! *Eu E ='% R A/
NOP N: aZ 8f R A ()* FqA/ .(*a^ ....
[ ^
11$/ ]!
H 8A7 ='%# R A/ 1 1q '?) +, (1z ) 1
gT
'" 8:1W E X̀1 .(5"1 11$/ {^| ;O + /
A[
NOP- . [−1, 1] 8f ;'6 }aZ/
P"! C ! bW gT aZ/
.(1-9) NOP CG N:! NO ='% R A/
-
:0A!I X
H9! ;O~ (1-9) NOP ;!
qA! B' / ='% R A/
- 0 N: 8A7! w~ -1
I N: aZ/ N? R A ()* N'P/ . (PL, PM, PS, Z, NL, NM, NS)
8f aZ 8U N!? ;! +, - %I #W ] − ∞, ∞[ 8f ;'6
N: 8A7! B 8AKp E S
') &G [−1, 1] HA
.(

wc '?
E"
'"
١٦٢
P {YA 8f N: 8A7! aZ/ (PL, PM, PS) R A Ny -2
(Small XaZ[ aZ/ Medium
-A! aZ/ Large Xa? aZ/)
{ 8f N: 8A7! aZ/ ( NL, NM, NS) R A Ny ]H
;'6 r Bm R A N:/ .
E>K
' Ny'G Z R !I N
A* '? (-0.4) / N: 8A7!
'" %? cW 9 ` y! .
! #U
PS R '/
' ()* 4g 8A ;O~ )
(1-9) NOP 13
(0.48)
Z R (0.2)
NL R È/ (0.08)

.(0.98)
NS R (0.72)
NM R
Input Variable
! "#$
(1-9)
1 X1E$ 4I #W ='% R A/

- ;! y?I 'K ;O' ;! -3
8AKp X0 m E # )* + / X̀1Eq { / R A
.NmGI %
)*
EH R A
aZ R 4I H9% (1-9) NOP ;! -4
0Al &6 +, ' ;O~ cW )> {Y `@ Q
/ %10I cW 9
` y'G N: 8A7
p
' ='%# R A G|
R A aZ/ #U &6 ;O' ;'G (5A)
' DC 23 0/
8f ;'6
Y
'
p
' ] gT Ny `^ S

١٦٣
HA 8f ;'6 aZ 8U R6 Nm>ED
'
H ;! .[-5,5]
" C/ A 'G +,-# + 'K NV wc 4|
.5:!
EH
R A? (1' - (1-9) NOP 6A ` - 0A?) nP 4W
Ny~ . 0 2l 0/ / . 'B/ E ]: ='%
`!A ! (e = I aref − I a ) p gT A* ) E HA gT
'" 8 | N:
CE HA gT aZ/
'" sy N: Ny~ ]H (
E"
'"
S

"9
? ;O~ CE E ]: +,- . (CE = E[k] − E[k - 1])
:5''K/ 1 C ! N' Ou * \T N: ] & /
K1 E + K 2 CE = CU a (9-1)
. U a \T aZ/ CU a p Ny~ ]:# ] ; X0 K1 , K 2 4W H

A* H 5 O7 + 5/ {YA \T 8AK7
\:
!O! {V ' 0 23 5/ {YA Ua HA B
. CU a
U a = K 1 ∫ E dt + K 2 E (9-2)
PI !O – - =1| `.P! (9-2)

"9 =1I 0 ;O~ `cW
. (K 2 = K p ) (K1 = K i ) 4I 0
J MATLAB/Simulink
;'6 'K \cA' (2-9) NOP ]E
. PI 5P \0t N:! =
>? ;
;!

7 g: n CE gT aZ/ 8AKp E
E
K +,-

7 gT 8AKp E .
p
7 gT
1
5Y: 8AK7 Sample time Np N:1 Ts R6 R! ( ) !$ a:g
z
١٦٤
.&G XH
):I ;!q 0 5:1

!A' !q a:g/
PI 34 2- ./# 0%1 ) # %&%' () * +,$ (2-9)
wc !$ a:g K +,- `'"0 5 8AKp E N!O'

N!O N:1 m
YH #) Ts
):I ;!q N? CU a \T "
'?
.( Ts ;!$ 89: aZ
!O +A% -| 5%| Ts
'
Fuzzy
O ;! 5 8AKp G Fuzzy Logic Controller K !I
] 0Ap R ! ! BE K )* K: G .Logic Toolbox
.(3-9) NOP
78 56 (3-9)
0:
%O!W #W 5KK: G 89: ;! K )* E # R"A
N: ='% R A/ &6
' 4W .(FuzzyPI -# K
' / ) &G 5
! | X)G% fuzzy

'/
? CE ; / O7 A" R! \T
+A% C T 0l R ! ! BE
' ()* )> .MATLAB
Sugeno 0T v New FIS 0T Eu File
' X̀@!
١٦٥
.(4-9) NOP ] 0l R ! ! BG
Sugeno >?<@ # 9: ;<= "#< (4-9)
N: bW \AA " Ny~ A =$ .;EI$Y bW 0l R ! E

N:) [
' / ;! > =$ O ~ ]H O7 A" \0,
9
` :1 w~ `!% Ny~ `6G / NOP 4W .}#U BA% Eu (\0,
gT aZ/ E gT ]:1 bW \ H ;O `H `Y: `H
R ;! Edit
' bW *) 4 NM :1
G6W ;O~ .
EHA
' CE
cW !| w)? Input 8 | 0T v Add Variable 0T bW v 5/c
sy 0T +A%
p ()* ;O \: ;! y?I R6 %10I
(Eu CE ; 5' / ;O' ;'G \: I N:1 I
G6W .Output
]E .R ;! > =$ ;! Name R ;'6 5
? v XH X 5
d 2l 0/ +, \cA' 'K 0l R ! (5-9) NOP
' B aZ/ Ny~ H \: CE gT aZ/ E gT ]:1 ;!
١٦٦
.
EHA
' * \T N: #A7! R R . CU a NOP
;<= "#< A +;B C .) ?D (5-9)
E .\0, N: ='% R A/ Eu * 'K *| XAT
.\: I N:1 I \ 1$ CE ; ='%# R A/
7>[ bW 8A:
.='%# R A/ !0 Eu R ! (6-9) NOP ]E
56 A \T I N: 0: E 0Ap R ! ;! (1) 8 | =$
K I Eu .(E 8 | N: Eu NOP ) XH X 5
NOP ] 0l R ! ;'6 5'% R A/ 5/!0 B/ \: I N:1
8f 0 %oG HA 8f ;'6 aZE 4I N: K E% %I .(6-9)
;O~ 5%oG ='%# R A
.(2) sy =$ 8f )*
O wc [−1, 1]
I !0 Eu E (3) y =$ .XH R / N? !0 Eu
? E H (NL ' R NOP ) 5 ='% R /
) (4) R =$ 1l Type R 89: ;! 5A% Eu Name R 5
١٦٧
R )* aZ/ 8U Eu ;O~ '? (guassmf [ Z R 0: NOP
aZ/ ='%# R / wEu ;O~) (5) Q!T =$ 1l Params R CE ;
%I H9% (6-9) NOP ;! .(wc N' 9 K% # ;O È E 5U
Ny ]H a y (-1)
' Ny H [0.33 − 1] ]' R6A '"
X [ Z R
y'
!
1 ;! b y (0.33)
%y
'
:
"9
− 0.5( x − a ) 2
y = exp( ) (9-3)
2(b) 2
1
3
2 5
+;B !E "#$ < ;# ?D "#< (6-9)
NOP ;! Edit
' 89: ;! :I ='% R A/
G6W ;O~
='%# R A/ 1 NOP/ ;O~ ). Add MFs 0T bW *) (6-9)
&m '" G CE sy N:
.1l \T I N: K A^
.}c E N: !0 " 5/!0
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١٦٨
Ay? ='% R A/
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( NL = −1, NM = −0.66, NS = −0.33, Z = 0, PS = 0.33, PM = 0.66, PL = 1)
Sugeno >?<@ +<: < ;# ?D "#< (7-9)
:0A!I X
H9! ;O~ \T N: ='%# R A

YAE 9G 'K XJT b |
Y0 1AE ='%# R / NO@ 0: 4W
='%# R A/ 0: H .0:# )* &m/ X13 A"
EI R"A
a^ `'" w~ [ Z ='%# R / 4W .[ Z NOP ;! ]: 9O
.Ny' 8U ;!
-
H !
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+,-
H .\T ='%# R A/ ;! N" 1 <G + Nm>DE
dE/ bW %' "
: R A/ I A dE/ E Sugeno
E
;! C \T BY
% NK7
? ='% R A/
-
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N: #H ] & / S O7 A" =y- È/ '? "
4W
١٦٩
\ 1$ CE ; O7 A" 03 bW \AA ;O~ H \T
) (5-9) NOP ] 0Ap R ! ;! A =$ ;! &- | R
.Sugeno
E (0:
'K
G! XJ: =¡ O7 A"
P"! / R"A
0/ / %10I cW `9y! H . O7 +,- 5/1" 1 +
¢ (Iaref > Ia ) 4I E )BG
YA! gT
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a^ 0 )* 4I #W (0/ X1Eq . 2l {YA! BY C/ E
E )BG `YA! gT aZ/ 4? coG gT aZ/
H 7G {V H ?
`D 11$E p 0 4oG £ (E[k] > E[k - 1]) 4| 1E1q gT 4I
2l a? {YA! BY C/ <>E )* Y 0 ; "
I
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Y 5'" bW 0 X1
(0/ r>, 2l {- BY C/ {YAE )BG (Iaref < Ia ) 4I
BY C/ <>E )BG (E[k] < E[k - 1]) `- gT aZ/ 4? cW ;O
.RE- NM OP " 0 0Y a? {-
H I>% J< > +<: EK L*: FM (1-9) FG
E
NL NM NS Z PS PM PL
CE
NL NL NL NL NL NM NS Z
NM NL NL NM NM NS Z PS
NS NL NM NS NS Z PS PM
Z NL NM NS Z PS PM PL
PS NM NS Z PS PS PM PL
PM NS Z PS PM PM PL PL
PL Z PS PM PL PL PL PL
N? E, CE ]:1 wh %I H9% N: ='% R A/ bW X1A
O¢ X" ] 0I R /

? %O!o 5%I E )* ='% R A/
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8 )* 1' .(1-9) 8 CG #p ()* ,/ ;O~ . (7 * 7)
١٧٠
5 9E r =YW 'K' ;O~ 5%I #W 0 + Ou A?
.X1 +% =1I a? I ¥ 4AOE ; X)> 9E 4I #W
(5-9) NOP ] 0Ap R ! ;! &- | =$ \ 1$
.(8-9) NOP '? B/ 1 O7 A" Eu R ! ! BE
\0, N: 0: R 4I H9% (8-9) NOP ] R ;!
E .+, N" ;! *1' S =| B! NO
[: ! B/
v XH X \T ]:' 1l 0T CE ; X"
EI Eu
]E 9` y! .R ;! A =$
` AO! X BG Add rule 0q
. (E is PL) and (CE is PL) ⇒ (CU a is PL) H Xa:| X 0: NOP
CE ; *aZ/ A =$
AO! X"
EI XH X ;O~ '?
.\0, I N: ;!
A
p Change rule 0$ &Zm
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R ! 9ô +A% O7 A" \0, N: NOP/ ;! =B%#
١٧١
. X)> KT >¦ >/
-0 G ; J 0Ap
K: d! >H {V >p
-0 R ! ;! Yes 0T &Zm
Fuzzy Logic Controller 2A K: 5:1W ) -# )
.FuzzyPI - d
' / {V I (3-9) NOP ]
'K \cA' < +A- K: NOP/ ;! =B%#

.HA + = 5G ) MATLAB/Simulink
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La=0.2;
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Td=1.588;
K=0.949;
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Kp_i=15;
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١٧٣
%========= Basic Values
Iab=5;
Vab=235;
%========= PI-Like FLC
K1=Ki_i*Ts*Iab/Vab;
K2=Kp_i*Iab/Vab;
K3=0.205;
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ω1
200
ω, ω1 (rad/sec)
150
195.7685
195.768
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2.9999 3 3 3.0001
0
0 1 2 3 4 5 6
Time (sec)
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Time (sec)
(Kp_i=25) M ( PB # PI PB # ;% % 3M,$ Ia1 Ia ;% ;1Q (13-9)
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SPEED AND CURRENT CONTROL USING P-PI AND FL
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-50
-100
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Time (sec)
PB # PI PB # ;% % 3M,$ ω1 ω )<R ;1Q (16-9)
P-PI S )<R % " (Kp_i=15) M (
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2.356
2.355
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Ia, Ia1 (A)
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DC MOTORS

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219.021
100 219.02
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0.3 0.3 0.3 0.3 0.3001 0.3001
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Time (sec)
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200
ω, ωest, ωdirect (rad/sec)
150 209.54
209.52
100
209.5
209.48
50
2.223 2.2235 2.224 2.2245
0
0 1 2 3 4 5 6 7 8
Time (sec)
. * !"#$& , ω est !"#$ ,-./0& %1
23 * ω % % !"#$ (5-10)
ω direct #"2 4 0 5"%3
2.5
1.5
Ia (A)
0.5
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Time (sec)
-./0& %1
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!"#$ (6-10)
R$( qm XLj y 89

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185
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ωest
20
ω, ωest(rad/sec)
21.48
15
21.47
21.46
21.45
10
21.44
21.43
5 21.42
0.382 0.384 0.386 0.388 0.39 0.392
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Time (sec)
%89 :%2;+ %89 (10%) 67 . ω % % & ω est "+!"#$ (7-10)
186
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ω
ωest
200
ω, ωest (rad/sec)
150
104.55
100 104.5
104.45
50
104.4
7.178 7.18 7.182 7.184 7.186 7.188
0
0 1 2 3 4 5 6 7 8
Time (sec)
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200
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150 209.05
209
100
208.95
50
208.9
2.201 2.202 2.203 2.204 2.205

0
0 1 2 3 4 5 6 7 8
Time (sec)
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6 1e ABC B9

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Time (sec)
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25 ω
ωest
20
ω, ωest (rad/sec)
15 21.492
21.49
21.488
10
21.486
21.484
5 21.482
0.394 0.396 0.398 0.4 0.402
0
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Time (sec)
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191
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SPEED ESTIMATION WITH DC-TO-DC CONVERTER
1e .Q. 8) ;6 A9 Z"[ \' 23 =.W.
DC-to-DC B B$% .Q. X%L A X7j 1% B
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CLOSED-LOOP SPEED OBSERVER SIMULATION WITH DC-
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ωest
200
ω, ωest(rad/sec)
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150
209.86
209.85
209.84
100 209.83
209.82
209.81
50 209.8
2.248 2.25 2.252 2.254 2.256 2.258 2.26
0
0 1 2 3 4 5 6 7 8
Time (sec)
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6
"( a@T 9C)
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193
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1.796 I
1.795
aest
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5.9999 6 6
0.5
-0.5
0 1 2 3 4 5 6 7 8
Time (sec)
.FG .2 ' (& I aest & I a > % !"%

"+!"#$ (17-10)
?9
F0 1%V ar5 -.0`% 6
"( *#3 c 23 *#x *Bu
(Ts = 100 µ sec) ?9
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OPEN-LOOP SPEED OBSERVER SIMULATION WITH DC-TO-
DC CONVERTER
c v¤ v7 > 1 (14-10) XLj ! qh.) ,-.9 csr >"b EF4 $(9
194
6 g-
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ωest Using Open Loop Observer
250
ωest Using Closed Loop Observer
200
210.4
210.2
150 210
209.8
100 209.6
ωest (rad/sec)
209.4
209.2
50
10.4 10.6 10.8 11 11.2
-202
0
-204
-50 -206
-208
-100
-210
-150 3 3.2 3.4 3.6 3.8
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Time (sec)
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B . !"#$ (18-10)

1e X\ ABC B9
9C)
"( *#3 (18-10) XLj O$>
195
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a
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3.5
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a
3
3
2
2.5
Ia (A)
1
8.4 8.6 8.8 9 9.2
Time (sec)
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-2
-3
0 2 4 6 8 10 12
Time (sec)
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B . !"%
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ωest CL
600
600
500
400
ω
500
300
400 200
ω, ωest (rad/sec)
10.9 11 11.1 11.2 11.3

300 -198
-200
200 -202
-204
-206
100
-208
-210
0 -212
3 3.2 3.4 3.6

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Time (sec)
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C.
B L" & % % !"#$ (20-10)
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. A9
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8 B9
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(1
1% ?6 EFG O c*5 * 89) 9 yz (K p _ i = 5, 10, 50)
! |T 0 "(r5 1C)5 ;6 * *#35 A9 N
" t@
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u9
"( ?*#3
S"Q3 c5B (TPWM = 200µ sec) 23 %6 z z) *#x *5 v7 8 (2
?*#3) d 9 « .(14-10) XLj ! O$) ,-.9
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"( *#35 6
"(
198
‫ﺍﳌﺮﺍﺟﻊ ﺍﻟﻌﻠﻤﻴﺔ‬
References
[1] Rashid M. H., “Power Electronics, Circuits, Devices, and

Applications”, Prentice-Hall, 2nd Ed., 1993.
[2] Yager R. R.; Filev D. P., “Essentials of Modeling and Control”, John
Wiley & Sons, Inc., 1994.
[3] Mohan N.; Underland T. M.; Robbins W. P., “Power Electronics,
Converters, Applications, and Design”, John Wiley & Sons, Inc., 2nd
Ed., 1995.
[4] Ong C.-M., “Dynamic Simulation of Electric Machinary Using
MATLAB/SIMULINK”, Prentice-Hall PTR, 1998.
[5] Krishnan R., “Electric Motor Drives, Modeling, Analysis, and
Control”, Prentice-Hall, 2001.
[6] Bose B. K., “Modern Power Electronics and AC Drives”, Prentice-
Hall PTR, 2001.
[7] Terode G., “Electrical Drives and Control Techniques”, Uitgeverij
Acco, 2004.
.1988 !"# " "

[8]
.1991 ,#% !"# "&'( )% *+" %! [9]
"0&'( *+ 203 – (1) 0&'( *+" -#' ./ [10]
.1991 !"#
0 0 !"0# "(1) :;< =>" 23 4"/ 56 78"9 [11]
.2007
199
200
‫ﺍﳌﺼﻄﻠﺤﺎﺕ ﺍﻟﻌﻠﻤﻴﺔ‬
SCIENTIFIC TERMS
-A-
Adaptation Mechanism ();B) ?" @
Algebraic Loop (EF -GHI 7') ;D
Allowable Value "JB
Amplitude KL
Armature Current M>B !I
Armature Voltage M>B (
Attraction Law NOP 7"Q
Attractive Voltage K"R" ( – NOP (
-B-
Back Emf J &'(S S )"Q
Block U TR
Block Diagram .QR VLW
-C-
Change of Error HLX -YI
Characterstic Equation Roots )ZB %B !O
Chattering FZ[
Choppers LB
Closed-Loop Observer YB < \ W
201
Closed-Loop System YB < ]^
Compensation _;"I
Complete Voltage
(P – . (P
Continuous Time JB `Z
Converter a
Current Control !' =>
Current Limitation ! ;b
Cutoff Frequency cL %%I
-D-
Damped Amplitude dB KLB
Damped Natural Frequency ed .aL %%
Damping Ratio d

DC Motor J !I f
Dead Time gB `Z
Delay Time -GH `F
Denominator Coefficient ]B h %< -iS Ki3
Derivative Time
jk `F
Differential Equation jkI %
Direct Current J !I
Direct Voltage J (
Discrete Time cLB `Z
202
Dry Torque (]B) l "< ]Z
-E-
Electromagnetic Torque .J9Y( ]Z
Equivalent Voltage m/B (P
Estimation no
Euler's Theorem ;3 ;^
Exponential Response 3 'p
Extended Kalmen Filter (Y `W) c"B `BS q8
-F-
Feedback J ;OYI
Feedback Control System J ;OYI c => ]^
Field Winding (
<) r( ?
Filtre q8
Final Value &s Q
First-Order System tu aIB ` ]^
Fixed Point Format 'i Rk YR
Fixed Step 'v )"LG
Four-Quadrant DC-to-DC w'!u h

I ;!"ZI a
Switching Converter '!u
Fuzzy Logic Controller =& ,LB =^
-G-
Gain q'
203
-H-
Hysteresis Bandwidth .&La =^B )O/ M
Hysteresis Controller .&La =^B
-I-
Inductance x;b
Initial Value &' Q
Input Signal
G% )!86
Instability !* ]
Integral Time
`F
Integrator

-K-
Kalmen Filter (Y `W) `BS q8
-L-
Limitation ;b
Linear .LG
Load
y U "y
Look-Up Table K
Low-Pass Filter _kd %%I ;z q8
Luenberger Observer D;" `W
-M-
Magnetic Flux .J9YB _k
Mathematical Model .j; {\"
Membership Function | c'I
204
Model {\"}
Modeling O}
Model Referene Adaptive System . B {\" e\ .~ ]^ `W
Moment of Inertia L ]Z
-N-
No-Load
-
Nominal Value Q
Nonlinear .LG -
Numerator Coefficient VJa h %< -iS Ki3
-O-
Open-Loop Observer "kB < \ W
Open-Loop System "kB < ]^
Optimised Response i3 'p
Output Signal {X )!86
Overcurrent ! )%;F
Overflow 7>k9
Overshot l F
Overvoltage (P )%;F
-P-
Parallel .kI
Parameters g'"v U !'
Parameter Variation !a -YI – g'"i -YI
205
Performance Improvment |%u nJb
Per-Unit System e" ]^
Phase Delay Z F
Phase Shifting ;!"9 F6
Phase Voltage !"L (
Physical Restriction &;Zk %"
Pole- Placement NLQu cj"I
Pole-Zero Cancellation kR c LQ lO
Properties &G
Proportional Gain =^B q'!
Proportional-Integral-Differential
Controller
.jkIU.IUI =^
Pulse Function xa c'I
Pulse Width Modulation xa M
;I
-R-
Ramp Response ! 'p*
Rated Load .*
<
Rated Value Q
Rated Voltage .* (P
Reaching Condition NOP 8 – K"R" 8
Reaching Law NOP 7"Q – K"R" 7"Q
Reaching Voltage NOP ( – K"R" (
206
Reference Signal B )!8
Resistance
Resolution Q
Response Time 'p* `F
Ripple {"z U FZ[
Rotor Speed !
Run-Up Speed !
-S-
Sampling Period OG3 `F
Saturation wa8 U ;b
Second-Order System i aIB ` ]^
Sensorless Speed Control 5J 7' =>
Separately-Excited DC Motor
J r e\ J !I f
Series
JJ – .JJI
Servo System ]^
Settling Time !* `F
Signal Freauency )!8 %%I
Signal Generator )!86 "
Simulation Time )S `F
Sliding Function T*Z* c'I
Sliding Mode Controller .Q*Z* V =>
207
Speed Control J' =>
Stable System J ]^
Stability !
Steady-State Error .IJ HLX
Steady-State Error Canellation .IJ HLX |Y6
Steady-State Response )JB < 'p
Step Function )Zk c'I
Switching Frequency
;a %%I
Switching Function
;a c'I
Switch Off
k
Switch On
R"
-T-
Thyristor Rectifier e!";v ]"
Time Constant EZ g'i
Transfer Function
c'I
Transient Response )' < 'p
-V-
Variable Step )-Y )"LG
Viscous Friction Coefficient {Z f*

Viscous Friction Torque {Z f* ]Z
-Z-
Zero kR
208

&% '("
) " # $% !
*+
/ . ,-
012) (34 054 67 89:

0 ;< =74 > 0
209

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