ALEXANDRIAUNIVERSITY

FACULTY OF ENGINEERING
Electrical Department
Postgraduate Studies


Assignment # 1

Continuous System Techniques
(Example on DC Motor)






Name:
Code : 0719861-PHD
Mob :


Spring 2013
C B
DC Motor Speed: System Modeling
Physical setup
A common actuator in control systems is the DC motor. It directly provides rotary
motion and, coupled with wheels or drums and cables, can provide translational
motion. The electric equivalent circuit of the armature and the free-body diagram of
the rotor are shown in the following figure.
Example:
The input of the system is the voltage
source (V) applied to the motor's armature,
while the output is the rotational speed of
the shaft d(theta)/dt.
The physical parameters for our example
are:
(J) moment of inertia of the rotor 0.01 kg.m^2
(b) motor viscous friction constant 0.1 N.m.s
(Ke) electromotive force constant 0.01 V/rad/sec
(Kt) motor torque constant 0.01 N.m/Amp
(R) electric resistance 1 Ohm
(L) electric inductance 0.5 H

System equations
In general, the torque generated by a DC motor is proportional to the armature current
and the strength of the magnetic field.
In this example we will assume that the magnetic field is constant and, therefore, that
the motor torque is proportional to only the armature current i by a constant factor K
t

as shown in the equation below. This is referred to as an armature-controlled motor
(1)

The back emf, e, is proportional to the angular velocity of the shaft by a constant
factor K
e
.
(2)

In SI units, the motor torque and back emf constants are equal, that is, Kt = Ke;
therefore, we will use K to represent both the motor torque constant and the back emf
constant.
From the figure above, we can derive the following governing equations based on
Newton's 2nd law and Kirchhoff's voltage law.
(3)

(4)

Transfer Function
Applying the Laplace transform, the above modeling equations can be expressed in
terms of the Laplace variable s. Expressed in terms of the Laplace variable s.
(5)( )() ()
(6)( )() () ()
We arrive at the following open-loop transfer function by eliminating I(s) between the
two above equations, where the rotational speed is considered the output and the
armature voltage is considered the input.
(7)()
()

()

()()

State-Space
In state-space form, the governing equations above can be expressed by choosing the
rotational speed and electric current as the state variables. Again the armature voltage
is treated as the input and the rotational speed is chosen as the output.

(8)

] [

] [

(9) [

]

MATLAB representation
1. Transfer Function
We will represent the above open-loop transfer function of the motor in MATLAB by
defining the parameters and transfer function as follows.
J = 0.01;
b = 0.1;
K = 0.01;
R = 1;
L = 0.5;
s = tf('s');
P_motor = K/((J*s+b)*(L*s+R)+K^2)
Continuous-time transfer function.
0.01
O/p T.f= ---------------------------
0.005 s^2 + 0.06 s + 0.1001
2. State Space
We can represent the system using the state-space equations. The following
additional MATLAB commands create a state-space model of the motor and produce
the output shown below when run in the MATLAB command window.
A = [-b/J K/J
-K/L -R/L];
B = [0
1/L];
C = [1 0];
D = 0;
motor_ss = tf2ss(A,B,C,D)
%%%Output of state space
a =
x1 x2
x1 -10 1
x2 -0.02 -2
b =
u1
x1 0
x2 2
c =
x1 x2
y1 1 0
d =
u1
y1 0
State-space model generated by converting existing transfer function model into
state-space form. This is again accomplished with the ss command
Building the model with Simulink
This system will be modeled by summing the torques acting on the rotor inertia and
integrating the acceleration to give velocity. Also, Kirchoff's laws will be applied to
the armature circuit.
(1)

(2)

simulation model, open Simulink and open a new model window.

Next, we will apply Newton's law and Kirchoff's law to the motor system to generate
the following equations:
(3)

)
(4)

The angular acceleration is equal to 1 / J multiplied by the sum of two terms (one
positive, one negative). Similarly, the derivative of current is equal to 1 / L multiplied
by the sum of three terms (one positive, two negative). Continuing to model these
equations in Simulink, follow the steps given below.
Insert two Gain blocks from the Simulink/Math Operations library, one attached to
each of the integrators.
Edit the Gain block corresponding to angular acceleration by double-clicking it
and changing its value to "1/J".
Change the label of this Gain block to "Inertia" by clicking on the word "Gain"
underneath the block.
Similarly, edit the other Gain's value to "1/L" and its label to "Inductance".
Insert two Add blocks from the Simulink/Math Operations library, one attached by
a line to each of the Gain blocks.
Edit the signs of the Add block corresponding to rotation to "+-" since one term is
positive and one is negative.
Edit the signs of the other Add block to "-+-" to represent the signs of the terms in
the electrical equation
Now, we will add in the
torques which are
represented in the
rotational equation.
First, we will add in the
damping torque.
Insert a Gain block
below the "Inertia" block. Next right-click on the block and select Format > Flip
Block from the resulting menu to flip the block from left to right. You can also
flip a selected block by holding down Ctrl-I.
Set the Gain value to "b" and rename this block to "Damping".
Tap a line (hold Ctrl while drawing or right-click on the line) off the rotational
Integrator's output and connect it to the input of the "Damping" block.
Draw a line from the "Damping" block output to the negative input of the
rotational Add block.

Next, we will add in the torque from the armature.
Insert a Gain block attached to the positive input of the rotational Add block with
a line.
Edit its value to "K" to represent the motor constant and Label it "Kt".
Continue drawing the line leading from the current Integrator and connect it to the
"Kt" block.



Now, we will add in the voltage terms which are
represented in the electrical equation. First, we will add
in the voltage drop across the armature resistance.
Insert a Gain block above the "Inductance" block and flip it from left to right.
Set the Gain value to "R" and rename this block to "Resistance".
Tap a line off the current Integrator's output and connect it to the input of the
"Resistance" block.
Draw a line from the "Resistance" block's output to the upper negative input of the
current equation Add block.
Next, we will add in the back emf from the motor.
Insert a Gain block attached to the other negative input of the current Add block
with a line.
Edit it's value to "K" to represent the motor back emf constant and Label it "Ke".
Tap a line off the rotational Integrator's output and connect it to the "Ke" block.
Add In1 and Out1 blocks from the Simulink/Ports & Subsystems library and
respectively label them "Voltage" and "Speed".
The final design should look like the example shown in the figure below





In order to save all of these components as a single subsystem block, first select all of
the blocks, then select Create Subsystem from the Edit menu. Name the subsystem
"DC Motor" and then save the model.


We then need to identify the inputs and outputs of the model we wish to extract. First
right-click on the signal representing the Voltage input in the Simulink model. Then
choose Linearization > Input Point from the resulting menu. Similarly, right-click on
the signal representing the Speed output and select Linearization > Output Point from
the resulting menu.
The input and output signals should now be identified on your model by arrow
symbols as shown in the figure below

In order to perform the extraction, select from the menus at the top of the model
window Tools > Control Design > Linear Analysis. This will cause the Linear
Analysis Tool to open. Within the Linear Analysis Tool window, the Operating Point
to be linearized about can remain the default, Model Initial Condition. In order to
perform the linearization, next click the Linearize button identified by the green
triangle. The result of this linearization is the linsys1 object which now appears in the
Linear Analysis Workspace as shown below. Furthermore, the open-loop step
response of the linearized system was also generated automatically.

The open-loop step response above is consistent with the response generated in the
DC Motor Speed: System Analysis page The reason the responses match so closely is
because this Simulink model uses only linear components. Note that this process can
be used extract linear approximations of models with nonlinear elements too.
We will further verify the model extraction by looking at the model itself. The
linearized model can be exported by simply dragging the object into the MATLAB
Workspace. This object can then be used within MATLAB in the same manner as an
object created directly from the MATLAB command line. Specifically, entering the
command zpk(linsys1) in the MATLAB command window demonstrates that the
resulting model has the following form.
(1) ()
()

()

()()

()
()

()

( )( )

s = tf('s');
P_motor = K/((J*s+b)*(L*s+R)+K^2);
zpk(P_motor)
Open-loop response
The open-loop step response can also be generated directly within Simulink, without
extracting any models to the MATLAB workspace. In order to simulate the step
response, the details of the simulation must first be set. This can be accomplished by
selecting Configuration Parameters from the Simulation menu. Within the resulting
menu, define the length for which the simulation is to run in the Stop time field. We
will enter "3" since 3 seconds will be long enough for the step response to reach
steady state. Within this window you can also specify various aspects of the numerical
solver, but we will just use the default values for this example.
Next we need to add an input signal and a means for displaying the output of our
simulation. This is done by doing the following:
Remove the In1 and Out1 blocks.
Insert a Step block from the Simulink/Sources library and connect it with a line to
the Voltage input of the motor subsystem.
To view the Speed output, insert a Scope from the Simulink/Sinks library and
connect it to the Speed output of the motor subsystem.
To provide a appropriate unit step input at t=0, double-click the Step block and set
the Step time to "0".
The final model should appear as shown in the following figure




Controllability Test
Q =[B A*B A^2*B];Q =
0 2.0000 -24.0000
2.0000 -4.0000 7.9600
c_r = rank(Q)= 2 then system controllable
Observability Test
R = [ C; C*A ; C*A^2 ];
R =
1.0000 0
-10.0000 1.0000
99.9800 -12.0000
O_r = rank(R) =2,then system observable
Stability Test
E = eig(A)
E =
-9.9975
-2.0025
The system is stable since eigen values have a ve real part



0 0.5 1 1.5 2 2.5 3
0
0.02
0.04
0.06
0.08
0.1
0.12
0.14
Impulse Response
Time (sec)
A
m
p
l
i
t
u
d
e






0 0.5 1 1.5 2 2.5 3
0
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.1
Step Response
Time (sec)
A
m
p
l
i
t
u
d
e
10
-1
10
0
10
1
10
2
-200
-150
-100
-50
0
Frequency (rad/s)
P
h
a
s
e

(
d
e
g
r
e
e
s
)
10
-1
10
0
10
1
10
2
10
-4
10
-3
10
-2
10
-1
Frequency (rad/s)
M
a
g
n
i
t
u
d
e