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Institute of Engineering Purwanchal Campus, Dharan-8

This document analyzes the modeling and control of a DC motor system. It presents the closed-loop transfer function of the system and performs various analyses including Bode plot, root locus, and impulse/step responses. The analyses show the system has high rise, settling, and peak times. A PID controller is then designed using a tuning tool to improve the system response by reducing settling time below 1 second and minimizing overshoot. Bode, root locus, and step response plots are presented to analyze the compensated closed-loop system with the PID controller.

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Milan Acharya
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58 views12 pages

Institute of Engineering Purwanchal Campus, Dharan-8

This document analyzes the modeling and control of a DC motor system. It presents the closed-loop transfer function of the system and performs various analyses including Bode plot, root locus, and impulse/step responses. The analyses show the system has high rise, settling, and peak times. A PID controller is then designed using a tuning tool to improve the system response by reducing settling time below 1 second and minimizing overshoot. Bode, root locus, and step response plots are presented to analyze the compensated closed-loop system with the PID controller.

Uploaded by

Milan Acharya
Copyright
© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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Institute of Engineering

Purwanchal Campus, Dharan-8

Modelling and Analysis of DC motor control system

Submitted by: Submitted to:


Ishwor Wagle Department of Electrical Engineering
PUR074BEL012
[Company name]

[Document title]
[Document subtitle]

1. Introduction:
From the block diagram, the closed loop transfer function
of DC motor control system will be:
𝜃(𝑠) 𝐾1𝐾𝐾𝑚
=
𝜃𝑑 (𝑠) 𝑠𝑅𝑓 (𝐽𝑠 + 𝑏 ) + 𝐾𝐾𝑚 𝐾𝑓
With the following assumptions,
K=100;
Km=1;
K1=0.2;
Kf =0.2;
J=0.02;
b=0.1;
Rf =250;
The closed loop transfer function becomes
𝜃 (𝑠) 20
= 2
𝜃𝑑 (𝑠) 5𝑠 + 25𝑆 + 20
Although there are many variables that affects the pitch,
they are neglected (here only) and single
input single output system is considered.
The following work is done for the system.
➢ Bode analysis
➢ Root Locus plot
➢ Nyquist plot
➢ Impulse and step response plot
➢ Performance specifications development
➢ PID analog and digital controller auto design using
PID Tuner tool
➢ Bode plot with PID controller
➢ Root locus plot PID controller
➢ Response plot with controllers.
➢ Conclusion

2. System Characteristics

Poles of the system: zero


Zeros of the system: -4, -1
2.1 Bode Plot
2.2 Root locus plot:
2.3 Nyquist Plot
2.4 Impulse Response
2.5 Step Response

➢ Rise Time: 2.31


➢ Settling Time: 4.2
➢ Settling Min: 0.9810
➢ Settling Max: 0.999
➢ Overshoot: 0
➢ Undershoot: 0
➢ Peak: 0.999
➢ Peak Time: 6.96

System is critically damped with damping coefficient 1.

3. Performance Specifications Development

The rise time, settling time and peak time are high. It
should be reduced. Controller should be selected such that
settling time will be less than 1 second, the overshoot be
very low meaning a good damping coefficient to reduce
oscillation

4. Controller Design

By using PID controller with unity feedback, we can


design the compensator for our system to meet the
desired conditions.
PID controller design:
Using PID tuner to design required controller with
K p =20
K i=30
K d=4

∴ the transfer function of PID controller is


30
20 + + 4𝑠
𝑠
4𝑠 2 + 20𝑠 + 30
=
𝑠
Hence, the transfer function of compensated system
with feedback is:
80𝑠 2 + 400𝑠 + 600
5𝑠 3 + 105𝑠 2 + 420𝑠 + 600
Poles of compensated system:
➢ -16.2977
➢ -2.3512 + 1.3546i
➢ -2.3512 - 1.3546i
Zeros of compensated system:
➢ -2.5000 + 1.1180i
➢ -2.5000 -1.1180i

4.1 Step Response with controller


4.2 Bode plot with controller

4.3 Root Locus plot with controller


➢ Rise Time: 0.113
➢ Settling Time: 0.963
➢ Settling Min: 1
➢ Settling Max: 1.02
➢ Peak: 1.03
➢ Peak Time: 0.543
➢ Percentage Overshoot:3.07

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