A Study on Motor Speed Control

T  K t ia
Vb  K e

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Boğaziçi University
 System Equations
J  b  K t i a Tl
KVL and Newton’s 2’nd
law gives : dia
K e  L
  Ria  va
dt
Let : Output : y = 
Input : u = va
Disturbance w = Tl
Laplace transforming, we
obtain :  JL JR  bL 
 2
s  s  1Y ( s ) 
 bR  K t K e bR  K t K e 
Kt 1
U ( s)  W ( s)
bR  K t K e bR  K t K e
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Boğaziçi University
 Transfer Functions
A B
Y (s)  U ( s)  W (s)
( 1s  1)( 2 s  1) ( 1s  1)( 2 s  1)
Where:
Kt 1
A B
bR  K t K e bR  K t K e
RJ
1  : Mechanical time constant
Kt Ke
L
2  : Electrical time constant
R
(Assuming b  0 and L is small)
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Boğaziçi University
 System Parameters
For this example, the following values for the physical parameters will
be assumed.
•moment of inertia of the rotor (J) = 0.0001 kg.m2/s2
* damping ratio of the mechanical system (b) = 0.0 Nms
* electromotive force constant (K=Ke=Kt) = 0.01 Nm/Amp
* electric resistance (R) = 0.1 ohm
* electric inductance (L) = 0.0005 H
* input (V): Source Voltage
* output ( ): angular velocity of shaft
* disturbance (Tl) : Load torque
* The rotor and shaft are assumed to be rigid
Reference : http://www.engin.umich.edu/group/ctm/index.html

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Boğaziçi University
 Numerical Values
J=0.0001;
b=0.0;
Ke=0.01;
Kt=0.01;
R=0.1;
L=0.0005;

A=Kt/(b*R+Kt*Ke); A=100
B=1/(b*R+Kt*Ke); B=10000

den=[J*L/(b*R+Kt*Ke) (J*R+b*L)/(b*R+Kt*Ke) 1];

r = roots(den);
tau1= -1/r(1); tau2=-1/r(2); tau1 = 0.0947 s.: mech. time constant
tau2 = 0.0053 s.: electrical time constant.

100 10000
Y ( s)  U (s)  W ( s)
(0.095s  1)(0.005s  1) (0.095s  1)(0.005s  1)

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Boğaziçi University
 Open Loop Step Response
step(A,den,0:.05:1.5)
title('Step Response for the Open Loop System')
Step Response for the Open Loop System
From: U(1)
100

90

80

70

60
Amplitude
To: Y(1)

50

40

30

20

10

0
0 0.5 1 1.5

Time (sec.)

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Boğaziçi University
 Steady State Model

yss = 100 u + 10000 w where y is in rad/s,

u is in Volts
and w is in N/m.

For example, u = va = 1.5 Volts gives ss = 150 rad/s = 1432 rpm.

If w = Tl = -0.002 N m., then ss = 150 - 20 = 130 rad/s = 1241 rpm.

Result : Without control, the speed decreases (or increases)

proportional to w. Controller must increase (or decrease) u, to
compensate for the effect of disturbance.

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Boğaziçi University
 Feedback Control
100
4.2
Disturbance : Gain
Ref. Load Torque Tl
signal 1.5
(Volts)
Steady state
Voltage input x' = Ax+Bu
PID
y = Cx+Du
PID Controller Saturation DC MOTOR Motor
speed

Voltage input

0.028

TACHOMETER

Simulink block diagram

Input saturation : Input voltage va can be between 0 and 2.5
Measurement
volts : Tachometer gain : 0.028 Volts/rad/s
Reference signal : 150 rad/s * 0.028 Volts/rad/s = 4.2 Volts; is
compared with tachometer output.
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Boğaziçi University
 Proportional Control
yref is increased from 150 to 160 rad/s.
162

160 Kp = 5

158

(rad/s)
Kp = 0.5
156

154

152

150
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time (s)

There is ss. error, ss. error decreases as KP is increased

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Boğaziçi University
 Disturbance Rejection
A step torque disturbance of Tl = -0.002 Nm. is applied
Disturbance rejection with P-control
150

149 Kp = 5

148

147

(rad/s.)
146

145

144

143

Kp = 0.5
142

141
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time (s.)

Compared to no control (130 rad/s), there is improvement, still there

is ss. error. ME 335
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 PID Controller

 1
t
de(t ) 
u (t )  K  e(t )   e(t )dt  Td 

 T i 0 dt 
1
K ( s )  K (1   Td s )
Ti s
Ki
or : K ( s )  K p   KDs
s
Control signal is a linear combination of error, integral of error
and time rate of change of error.
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Boğaziçi University
 PID Control of DC Motor
Kp  5 K i  50 K d  0.005
PID control servo and disturbance rejection
162

ref = 150 to 160 rad/s.

160

158

(rad/s)
156

154

152

Tl = 0 to -0.002 Nm.
150

148
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time (s.)

No steady state error, good response.

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Boğaziçi University