FINAL PROJECT: PID controller on a

DC motor.
Control Theory
Names: Ayala Yunga Édison.
Tinoco Novillo Diego.
Vargas Romero Fernando.
Zhumi Valarezo Cristian.
 • General Objective.

o Control the start of a “mesa paddy”.

• Specific objective.

o Design a control system for a “mesa paddy”

o Make the calculations for the system.

o Simulate the functioning of the controller.

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura
 What is a “mesa paddy”?
The “mesa paddy” is a set of toothed plates mounted on a vibrating frame.

Trays tilt length and width. It allows separing paddy rice of the white rice.

We understand for paddy rice, the rice that is with shell yet.

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 Mesa Paddy

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 5

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 Analyze the electric part.

(1)

Ea(t) is the Counter Electromotive Force, is a generated voltage that results when the armature
conductors move through the field flow set by the field current if.
if it is the armature current which will be constant.

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 Analyze the mechanic part.

(2)

We assume a proportional relationship Ka between the armature induced voltage and the 7

motor shaft angular velocity

  (3)
An electromechanical relationship is established that establishes that the mechanical
torque proportional Km the electric current.
  (4)

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 Equations modeling the direct current motor

  (1)

(2)
(3)
8
(4)

  is the motor torque.

 Β is the coefficient of friction equivalent to the motor and
the load mounted on the shaft.
 is the moment of total inertia.
 is the angular motor speed.
 is the armature inductance of the DC motor.
 is the armature resistance.
 is the counter electromotive force.
Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura
 To Laplace.

 (5)

(6)
(7)
(8) 9

I clear the current from equation 8

  (9)
I clear the torque from equation 6
  (10)

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 We replace equation 9 in 5
(11)
 

We replace equation 10 in 11  
  (12)
 
10
We replace equation 7 in 12
 

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

   

  11

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 Obtain the transfer function

12

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 Transfer function with motor data.
12V DC motor data.
 Ra= 0.54 Ω  
 La= 0.023H
 Ka= 0.02515 (v/rad.s)  
 Km= Ka
 B= 0.011125X10-3 (Nm/rad/s)
 Tm=276.33 ms 13

 J= 3.074X10-3 (Kg.m2)

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 14

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 Closed-loop transfer function with unit feedback

15

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

  
Position error calculation (step input)
 

16
 

= 0.02475 =2.475%
 

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 17

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 System stability.
In order to analyze whether the system is stable or not, one must start from a T (s)
which is the closed-loop transfer function with unit feedback
 

18

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 We plot the poles in an imaginary and real plane, with the help of Matlab (rlocus) we can
see that it has two poles in the left half plane.

19

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura

 To be safer, we carry out the criteria of Ruth Hurwitz

 
 

20

As it is observed in the Ruth table we do not have any sign change means that our
system is stable.

Universidad Politécnica Salesiana Ingeniería Automotriz Asignatura