Proj1proj1pdfproj1Project_DC_Motor_Control_s18docProject_1Spring

proj1/proj1.pdf

proj1/Project_DC_Motor_Control_s18.doc

Project 1

Spring 2018

Due by 9:30 am on Tuesday March 2018.

Given the following machine parameters of a dc permanent magnet motor, design the needed controller according to the steps and criteria stated in this project.

Table 1: DC Motor Parameters

Parameter	Value
	0.0772 V/rad/s
	0.0772 Nm/A
	0.7454
	4.8 mH
	6.87x10-5 Nm/rad/s2
B	0.0003 Nm/(rad/s)
Tfriction	0. 0756 Nm
TL	0. 1 Nm
	42V
	1 V
	20 kHz
	4000rpm
	5A

Design a cascaded controller to control the speed of this dc motor that meets the following criteria:

a. Maximum overshoot within 20% (speed loop)

b. Steady state error = 0

c. Reasonable rise time (you may define this)

Design Steps:

1. Set up the Simulink model of the PM DC motor

2. Design a torque (current) controller as the inner loop controller.

3. Design a speed controller as the outer loop controller.

4. Simulate your design with MATLAB/Simulink. Verify your design against your design specification.

Note: The speed controller has a current limit output of

5*1.2 A. Similarly, the control voltage output from the current controller has a limit of

1V and the output armature voltage has a limit of

42V . You may test the response of the controller by :

1) Setting the initial speed and load to zero (at t=0).

2) Appling a step load at time t = 1 second

3) Applying a step speed command from 0 to 200 rad/sec at t = 2 seconds

4) Applying a step speed command from 200 to 400 rad/sec at t=4 seconds

Project report should include:

· Brief description of the cascaded controller design (chapter8).

· The description of your model block by block.

· The final simulation results including speed (reference and real), armature current (reference and real), and the input armature voltage of the motor.

· Conclusions and discussions

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proj1/project1_hints.docx

ECE327/527 Project 1 hints

Step 1: create the machine model in Simulink and the cascaded close-loop controller (inner loop and outer loop) with all the parameters represented as name symbols (not exact value).

Step 2: follow the example on slide 23 to calculate the two gains for current (or torque) PI controller. You are highly recommended to write a code for the calculation.

Choose cross over frequency (1 or 2 orders lower than the switching frequency)get KiIwith electrical time constant get KiP

Step 3: follow the example on slide 27 to calculate the two gains for the speed PI controller. You are highly recommended to write a code for the calculation.

Choose the cross over frequency (1 or 2 orders lower than that of the current loop)choose phase margin (>45 <90)calculate C1calculate Kiwcalculate Kpw

Step 4: run the simulation to see if the response meets the design requirements (overshoot and response time). If not, go back to change the two cross over frequencies for both loops. The rule of thumb is that if the overshoot is too big then you need to reduce the frequency, and if the response time is too long then you need to increase the frequency.

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