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strain gauge,
Sensor potentiometer,
tachometer,
encoder
+ +
VB=K V T M,
V
- -
TL J
KM V RTL
=
KM KV + RB
KM (V B + KV TL)
TM =
KM KV + RB
Torque-speed curve
TM
increasing V
V
<
KV
TM > 0
* (volts) error V
DC
controller motor
-
volts rad/sec
tachometer
I* I error V I
DC
controller motor
-
vi(t) + C vo(t)
-
- DC motor
R I L
+ +
VB=K V T M,
V
- -
TL J
d TM
= ,
dt J
the shaft velocity and velocity increases without
bound the system from I to is unstable
u(t) y(t)
H(j)
y(t) H(0)u0
10
20
gain, db
30
40
50
2 1 0 1 2
10 10 10 10 10
20
phase, degrees
40
60
80
100
2 1 0 1 2
10 10 10 10 10
frequency, rad/sec
0.6
0.4
0.2
0.2
0.4
0.6
0.8
1
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time, seconds
u(t) y(t)
H(s)
RC circuit
- Input: applied voltage, vi(t).
- Output: voltage across capacitor, vo(t)
R
vi(t) + C vo(t)
-
- combining yields
dvo(t)
RC + vo(t) = vi(t)
dt
To obtain transfer function, replace
- each time signal by its Laplace transform: v(t) V (s)
- each derivative by s times its transform: dv(t)
dt sV (s)
- solve for Vo(s) in terms of Vi(s):
1
Vo(s) = H(s)Vi(s), H(s) =
RCs + 1
To obtain frequency response, replace j s
1
H(j) =
RCj + 1
dn y dn1 y dn2 y dy
+ a1 + a2 + . . . an1 + an y =
dtn dtn1 dtn2 dt
dn1 u dn2 u du
b1 + b2 + . . . bn1 + bn u
dtn1 dtn2 dt
n n1 n2
s + a1 s + a2 s + . . . + an1 s + an Y (s) =
n1 n2
b1 s + b2 s + . . . bn1 s + bn U (s)
N (s)
Y (s) = H(s)U (s), H(s) =
D(s)
n n1 n2
N (s) = s + a1s + a2s + . . . + an1 + an
n1 n2
D(s) = b1s + b2 s + . . . bn1s + bn
reduces to
u(t) y(t)
G(s)H(s)
H(s)
u(t) y(t)
G(s)
reduces to
u(t) y(t)
G(s)+H(s)
H(s)
u(t) y(t)
G(s)
1+/-G(s)H(s)
u(t) e(t)
1
1+/-G(s)H(s)
- Torque:
TM (s) = KM I(s) (3)
- Back EMF:
VB (s) = KV (s) (4)
15
20
gain, db
25
30
35
40
45
3 2 1 0 1 2
10 10 10 10 10 10
20
phase, degrees
40
60
80
100
3 2 1 0 1 2
10 10 10 10 10 10
frequency, Hz
Parameter Values
- KM = 1 N-m/A
- KV = 1 V/(rad/sec)
- R = 10 ohm
- L = 0.01 H
- J = 0.1 N-m/(rad/sec)2
- B = 0.28 N-m/(rad/sec)
Why is frequency response important?
- Linear vs. PWM amplifiers . . .
2 Matlab m-file DC motor freq response.m
Voltage amplifiers:
V Voltage V
D/A Amplifier Motor
V Current I
D/A Amplifier Motor
Recall:
- with no load, steady state motor speed is proportional to
applied voltage
- steady state motor torque is proportional to current (even
with a load)
With a D/A converter and linear amplifier, we regulate the
level of applied voltage (or current) and thus regulate the
speed (or torque) of the motor.
PWM idea: Apply full scale voltage, but turn it on and off
periodically
- Speed (or torque) is (approximately) proportional to the
average time that the voltage or current is on.
PWM parameters:
- switching period, seconds
- switching frequency, Hz
- duty cycle, %
see the references plus the web page [2]
0.8
PWM signal
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
time,seconds
10% duty cycle: duty cycle = 10%, switching period = 1 sec, switching frequency = 1 Hz
1.2
0.8
PWM signal
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
time,seconds
90% duty cycle: duty cycle = 90%, switching period = 1 sec, switching frequency = 1 Hz
1.2
0.8
PWM signal
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
time,seconds
0.8
PWM signal
0.6
0.4
0.2
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time,seconds
3.5
2.5
1.5
0.5
0
100 80 60 40 20 0 20 40 60 80 100
frequency, Hz
0.8
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
time, seconds
0.5
0.4
0.3
0.2
0.1
0.1
0.2
0.3
0.4
0.5
0 1 2 3 4 5 6 7 8 9 10
time, seconds
2.5
1.5
0.5
0
20 15 10 5 0 5 10 15 20
frequency, Hz
10
gain, db
20
30
40
2 1 0 1 2
10 10 10 10 10
20
phase, degrees
40
60
80
2 1 0 1 2
10 10 10 10 10
frequency, Hz
0.5
0.4
0.3
0.2
0.1
0.1
0.2
0.3
0.4
0.5
0 1 2 3 4 5 6 7 8 9 10
time, seconds
V/V PWM
CPU D/A amplifier Motor
duty cycle
V/V PWM
CPU amplifier Motor