DC MOTOR CONTROLFOR

REDUCING SENSITIVTY TO LOAD

DISTURBANCES

PRESENTED BY

SAURABH MISHRA-14094301
(PESC)

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CONTENTS

Introduction
Objective
Boiler Plant
Model Of The Boiler
Fuzzy Logic
Simulation Results
Conclusion
References

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INTRODUCTION
DC motors are the important machine in many control systems

such as domestic electrical systems, vehicles, trains and process

control.
It is well represented in the mathematical model as a crucial aspect

for a control system design.

DC motor provide excellent control of speed for acceleration and

deceleration.
Here we design of different control schemes for DC motor at steps

which included speed characteristic of the DC motor structure and

the mathematical model and simulation of stability response for
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speed
control of DC motor control system.

OBJECTIVE
Control of Dc motor speed from different methods.
To make the DC motor Less sensitivity to the load disturbances.
To compare the results of different Controlling Technique

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L
.

MODELLING OF DC MOTOR

Mechanical equation:
Applying kvl ,
Electrical equation:
By applying KVL

b = Ki

+
By applying laplace

By applying Laplace

transformation, armature
current is given by
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transformation,
Js2(s)+bs(s)=KI(s)

MODELLING OF DC MOTOR CONT.

Simplified Model of DC motor

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CONTROLLING SCHEMES

Here we are using three major techniques for tracking set point

commands and and suppressing sensitivity of load

disturbances, they are
1.Feed Forward Control
2.Integral Feedback Control
3.LQR regulation

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FEEDFORWARD CONTROL

It is open loop controlling techinque.

Here in this technique we cascade the DC

model with a constant gain Kff
Where kff is reciprocal of dcgain of DC model.

Fig.3 Block Diagram FeedForward Controller

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FEEDFORWARD CONTROL

Fig.4 simulink model

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Fig.5 Experimental Result

INTEGRAL FEEDBACK CONTROLLER

It is a closed loop controlling technique, where

output signal is fed to input.

The change in input signal and output signal is
fed to pi controller.
Here the value of k is caluculated from rootlocus
for a z value 0.7,
Fig.6 Block Diagram of Feed forward
controller

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INTEGRAL FEEDBACK CONTROLLER

Fig.7 Simulink Model

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Fig.8 Experimental Result

LQR Control
Linear quadratic Regulator Control is the state space analysis.

It is an optimal and robust technique for Multi Input Multi Output

(MIMO)control.

LQR controller always tries to minimize the performance index

and provide the optimised result

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LQR contd
The performance index is

using
Linear solution we are getting in form of u=-Kx where K we will

find from the equation

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LQR Contd.

It is also closed loop controlling

technique.
Similar to PI controller here in
LQR uses integral error in
addition to that it uses state
vector x(i,w).
where i is armature current.
Here the LQR gain is calculated
using Matlab.
Va=K1w/s+K2w+k3Ia
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Fig.9 Block Diagram of LQR

LQR Contd.

Fig.10 Simulink Model

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Fig.11 Experimental Result

COMPARISIONS

Fig.11 Comparing Three Controlling Schemes

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CONCLUSION
LQR control reduces the motor sensitivity to load disturbances

significantly
LQR control is mainly focused for Industry purpose because it is

an cost efficient method

LQR control is used where improved control of motor speed is

required.

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REFERNCES
www.mathworks.in
Norman and Nise.6th ED.
Santana, J., J.L. Naredo, F. Sandoval, I. Grout and O.J. Argueta, 2002. Simulation and

Construction of Speed
Abdulrahman, A.A. Emhemed and Rosbi Bin Mamat, 2012. Modelling and Simulation for

Industrial DC Motor

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THANK YOU
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