NATIONAL UNIVERSITY

OF
SCIENCES AND TECHNOLOGY
COLLEGE OF ELECTRICAL AND MECHANICAL ENGINEERING

Control Systems Lab Experiment #6

DC Motor Control Trainer
Modeling (Part-b)

GROUP MEMBERS:
NS SAAD IFTIKHAR (039)
NS MUHAMMED HASSAN ZIA (029)
PC AMMAR ABDULLAH (2009-103)

Objectives:

Deriving Motor Transfer Function

Validating Calculated Transfer Function
Experimental Determination of Transfer Function
Discussion on Un-modeled Dynamics

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[6.1]

[6.2]

[6.3]

Km = 0.0502 Nm/A
Rm=10.6 Ohm

Figure 6.1

Figure 6.1

The approximation is made because inductance do not introduce dominant pole

in the transfer function, so neglecting such factor should not effect the response
of motor.

6.2
Table 6.1

5.5.1
0.00007
2.091 10-5
2.207 10-5

5.5.2
100

1
71.037

6.1
0.0502

11.07
10.78
214.65

19.92
0.00928
4206.28
Table 6.1

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Gmv(s)=214.6/(s+10.8)
K=19.92
T=0.0928
Ktd=4206.28 rad/Nms
results are similar to the results in table A.2. slight
difference occur due to difference in pratical
measurements.

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fluctuations in speed = +- 2 rad/s for 200rad/s
fluctuations in speed = +- 1 rad/s for 100-200rad/s

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Yes , noise level depends on velocity.

yes the noise level depends on the velocity, as we can see from the graph
as we increase speed the noise function's amplitude keeps on increasing.
No we don't see any repeatable fluctuations in our velocity functions as it a
random function with no repetetions. Noise is caued due to quantization
error of the the encoder. Not related to position of the motor

[6.4]

6.2

6.2

[6.5]

Table 6.2

6.2

delta y=85-(40)=45
delta x=2
k=y/x=45/2= 21.25
.63*delta y=28.3
t=0.09
T(s)=21.25/(1+0.09s)

[6.4]
6.1

Repeat

y = 211
x = 10
K = y/x = 19.5
0.63y = 132.29
= 0.097

[6.4]

6.1,

From section 6.2

k=19.9 rad/sec
t=o.o93 s
from sec 6.3
k-21.5
t=0.097

yes our model is valid because our diagrams clearly shows that the
actual result is following the simulated results.

[6.2]

can be derived easily

giving electro-mechanical model,

by simplifying:

6.3

6.3

6.1,5.5.2
,5.6.2

100 rad/s

10.6 Ohm
0.05 Nm/a

0.093 rad/vs
0.093 s

21.1
.097
21.5
0.09
6.3