Digital Control System

2024.3.14
Project#1 (Due : 2024.4.3) (10-page limitation)

Fig. 1 shows the DC motor drive with the voltage input. In this project, the voltage input ea(t) is
manipulated through a computer ea(t=kT) using ZOH D/A converter. The motor current ia(t=kT),
speed ωm(t=kT) and position θ(t=kT) are measured with A/D converters for computer processing.
Time-domain motor drive models are listed as follows
2
dia(t) dθ (t) dωm(t)
ea(t) = Rpia(t) + Lp + Keωm(t) (1), J 2 = KTia(t) (2), and J = KTia(t) (3)
dt dt dt

J = 0.015x10-3 Kg-m2 inertia

KT = 0.14 Nm/Amp torque constant
Ke = 0.14 volts/rad/sec back emf constant
Rp = 2.6 ohm motor resistance
Lp = 4.3 mH motor inductance
T = 0.0002 sec (5-kHz) sample period (frequency)

ea = applied terminal voltage in volts

ia = current in amperes
ma_gap = electromagnetic torque (moment) = KT *ia
eb = induced (back emf) voltage = Ke*Wm in volts
ωm = load angular velocity in rad per sec

A. Develop discrete-time models of two motor subsystems (30%):

1. Use Method#1 to find both k-domain difference equations and z-domain transfer function for the
position motion system in (2). The computer input is current ia(t=kT), and output is sampled position
θ(t=kT). Derive the model development process. Show the z-domain block diagram based on Fig. 2 from
ia(t=kT) to θ(t=kT).
2. Use Method#2 and Z-table to find difference equation and transfer function for the electric system in
(1). At this time, the computer input is voltage ea(t=kT), and output is the sampled current ia(t=kT).
Indicate the development process. Show the block diagram based on Fig. 3 from ea(t=kT) to ia(t=kT).
(Show both analytical and numerical values on equations)

B. Develop the discrete-time model of full motor drive (50%):

1. At part B, you are asked to analyze a fully motor drive model where the computer input is voltage
ea(t=kT), and output is the sampled speed ωm(t=kT). The corresponding discrete-time model for Fig. 1
is shown in Fig. 4. Considering the parameters in Fig. 1, corresponding parameters in Fig. 4 is listed by
Table I. You are asked to use Method#1 where the analysis guidance is given from Handout#1.
Table I Numeric values for model parameters in Fig. 4
Parameters ωn A1 B1 Bie Bωe1 Bωe2
value 551 r/s 0.8805 0.04372 0.1036 0.00583 0.00561
Please derive two difference equations of
i) Electrical subsystem: output ia(k) versus input ωm(k-1) and disturbance ea(k-1)
ii) Mechanical subsystem: output ωm(k) versus input ia(k-1)

2. Explain the difference: why the model in Fig. 4 is different from the combination of model in Fig. 2
and Fig. 3. There are two issues to cause this difference.
 C. Real-time simulation (20%):
1.Use Matlab to compare both the “actual computer controlled system in Fig. 5” and “fully discrete-time
system in Z-domain in Fig. 4”. Both the sampled current ia(t=kT) and sampled speed ωm(t=kT)
should be illustrated based on

(a) a step voltage input where ea(kT) =1 at kT = 2T

(b) a sinusoidal voltage input where ea(kT) = cos(2π×500Hz×T) and ea(kT) = cos(2π×1.25kHz×T)

ia(kT) mair_gap(kT) ωm(kT) θ(kT)

KT ? ?
Fig. 2 Discrete-time model of position motion system

eb(kT)
ea(kT) + - ia[(k+1)T] ia(kT)
+
? z -1
+

?
Fig. 3 Discrete-time model of motor electric subsystem

ea(kT)
+ −1 ia(kT) mair_gap(kT) Lp n Be1 + Be2 Z−1 ωm(kT)
B1Z
K e K T Bie (1 − Z−1 )
v
1 − A1Z−1 KT
-

Ke
Fig. 4. Discrete-time model of voltage controlled PM motor drive system

ea(kT) Z ea(t)
mair_gap(t)
1 ia(t) ωm(t) T ωm(kT)
O 1
Lps + R p KT v
H + J ps T ia(kT)
-

Ke

Fig. 5 Actual computer controlled motor drive