11.5.

2006

Electrical systems & control

Martina Malkova, 059076557

D.C. motor speed control

Abstract
In this laboratory, we constructed d.c. motor speed control, where a variable voltage supply is used to feed the field windings. Since the field circuit requires much less power than the armature, this scheme has the advantage that only a small and inexpensive variable voltage supply is required. A disadvantage is that a speed feedback signal is required in order to make speed proportional to input field voltage.

List of symbols
vf Rf Lf if ,I f

input field voltage field resistance field inductance

field current armature current constant

Ia K

Introduction
According to D.C. motor equations, we will build a block diagrams using Matlab/Simulink. We will observe torque/speed characteristics, try using feedback signal.

Building the block diagram

Simulation 1
First equation: v f Rf Lf s if We can rewrite this equation: v f R f i f L f si f

vf Lf

Rf if di f

Lf

di f dt

vf Rf if dt Then the block diagram can be drawn like this:

Second equation: t e

KI a I f

According to this equation, we change our diagram add gain K 1 to the beginning and KI a to the end (to get torque, which we want to observe)

11.5.2006

Electrical systems & control

Martina Malkova, 059076557

Third equation: t e

Js

d r dt We can rewrite this equation exactly as it was with the first one: d r J dt Then the block diagram can be drawn like this: J

te

KI a I f

When we add both diagrams together, we get the final diagram:

Then we can set the following values: K1 1 KI a 0.2

Lf Rf

0.8 15

0.162e 3

b 6.5e 3

11.5.2006

Electrical systems & control

Martina Malkova, 059076557

When we run the simulation, we get following graphs of torque/time and speed/time:

speed(Yax)/time(Xax)
(when b = 1.3e-3)

torque(Yax)/time(Xax)

(when b = 6.5e-3) When b changes, it doesnt have any effect on torque, so the graph of torque/time remains the same.

speed(Yax)/time(Xax)

From the graphs, we can obtain steady state values of torque and speed: t e 0.0133
r1 r2

2.0513 , where

r1

is speed when b

6.5e 3 and

r2

when b 1.3e 3

10.26 We can easily suggest torque/speed curve. Torque value does not depend on speed, so the graph should look like this:

11.5.2006

Electrical systems & control

Martina Malkova, 059076557

If we recast motor equations by removing d/dt terms, we get those equations of steady state: vf Rf if te b r It means that torque is proportional to speed and the graph should look like this:

Simulation 2
In this simulation, we need to change the block diagram as follows: (picture) K t 0.23 We set K 1 1 and we run the simulation.

b 0 Then we changed final values of step input voltage: 0, 0.5, 1.5 and 2. We obtained steady state values of speed, and then by using matlab we got the resulting graph voltage against steady-state speed:

11.5.2006

Electrical systems & control

Martina Malkova, 059076557

Concluding comments
The simulation speed/time plots show that, before steady state conditions are reached, the following occurs. (a) The speed takes a certain time to initially reach the level of the final value (the rise time). (b) The speed overshoots the level of the final value. (c) The speed oscillates about the level of the final value. We tried to change value of K 1 1 to suggest a suitable value that appears to give a good compromise between short rise time and amount of overshoot and oscillation. The three values of K were 2, 0.62 and 0.5. The value of 0.62 seems like that it is the wanted compromise. The pictures below show obtained graphs:

11.5.2006
K = 0.5

Electrical systems & control

Martina Malkova, 059076557

K = 0.67

K=2