3 Motor Control

The torque generated by a DC machine 𝑇𝑒 is proportional to the stator current 𝐼 and the strength of
the rotor magnetic field, which can be considered constant if a permanent magnet is used. Hence,
the torque is proportional to the stator current multiplied by a constant 𝐾𝑒 . The back EMF of the
machine, 𝑒, is proportional to the angular velocity of the shaft 𝜔, with constant gain 𝐾𝑡 . In this case,
𝐾𝑒 = 𝐾𝑡 . The equations for the system are given below with a diagram.

3.1 Basic Modelling and Simulation

Q1. Use the equations given above to find the transfer function relating rotational speed 𝝎 to
voltage 𝑽. [2 marks]
𝜔
HINT: You are trying to find the s-function for 𝑉 – this is really just a maths problem!

Q2. Sketch a control flow diagram of the system from voltage to rotational speed using gains,
integrators and summing blocks only. [4 marks]

HINT: You could do this in two sections that you then join together (𝑉 → 𝐼 and 𝐼 → 𝜔)

HINT: Remember to arrange the equations with the highest order of derivative at the start (see
lecture notes), as this makes it easier to work out the diagram.

Q3. Build the model you sketched in Simulink. [2 marks]

Note that values for the parameters can be found on canvas and vary from student to student.

Q4. Using your Simulink model, simulate the response of the system to a step input of 10 at a
simulation time of 0. [1 mark]
𝒅𝜽
Q5. The position of the motor 𝜽 is given by 𝝎 = 𝒅𝒕
. Make the minor alteration required to your
Simulink model to output the position and show a plot of the position for a step input of 10.

[3 marks]

3.2 Controller Design

The motor model can be used as an example with which to design controllers.

Q6. Design a cascade PI controller for motor speed control. Use two PI controllers designed using
the pole-zero cancelling method. The current control loop should have a rise time of 0.01 and the
speed loop should have a rise time of 0.1. Show how the system responds to a step change in
reference of 60. [4 marks]
HINT: This is for speed control – not for the position!

Q7. Use the Ziegler-Nichols method to design a PI (not PID) controller for the motor position.
Validate the controller with an input step of 30. [4 marks]

Q8. Repeat the steps of Q8 to design a PID controller. For implementation, given that step changes
in set points are expected, how could the derivative term be implemented to avoid the impact of
derivative noise? [4 marks]