Example: DC Motor Speed Modeling in

Simulink

Physical setup
A common actuator in control systems is the DC motor. It directly provides rotary
motion and, coupled with wheels or drums and cables, can provide transitional
motion. The electric circuit of the armature and the free body diagram of the rotor are
shown in the following figure:

For this example, we will assume the following values for the physical parameters.

* moment of inertia of the rotor (J) = 0.01 kg.m^2/s^2

* damping ratio of the mechanical system (b) = 0.1 Nms
* electromotive force constant (K=Ke=Kt) = 0.01 Nm/Amp
* electric resistance (R) = 1 ohm
* electric inductance (L) = 0.5 H
* input (V): Source Voltage
* output (theta): position of shaft
* The rotor and shaft are assumed to be rigid

The motor torque, T, is related to the armature current, i, by a constant factor Kt. The
back emf, e, is related to the rotational velocity by the following equations:

In SI units (which we will use), Kt (armature constant) is equal to Ke (motor

constant).

Building the Model

This system will be modeled by summing the torques acting on the rotor inertia and
integrating the acceleration to give the velocity. Also, Kirchoff's laws will be applied
to the armature circuit.

• Open Simulink and open a new model window.

First, we will model the integrals of the rotational acceleration and of the rate of
change of armature current.

• Insert an Integrator block (from the Linear block library) and draw lines to and
from its input and output terminals.
• Label the input line "d2/dt2(theta)" and the output line "d/dt(theta)" as shown
below. To add such a label, double click in the empty space just above the
line.
• Insert another Integrator block above the previous one and draw lines to and
from its input and output terminals.
• Label the input line "d/dt(i)" and the output line "i".

Next, we will start to model both Newton's law and Kirchoff's law. These laws
applied to the motor system give the following equations:
The angular acceleration is equal to 1/J multiplied by the sum of two terms (one pos.,
one neg.). Similarly, the derivative of current is equal to 1/L multiplied by the sum of
three terms (one pos., two neg.).

• Insert two Gain blocks, (from the Linear block library) one attached to each of
the integrators.
• Edit the gain block corresponding to angular acceleration by double-clicking it
and changing its value to "1/J".
• Change the label of this Gain block to "inertia" by clicking on the word "Gain"
underneath the block.
• Similarly, edit the other Gain's value to "1/L" and it's label to Inductance.
• Insert two Sum blocks (from the Linear block library), one attached by a line
to each of the Gain blocks.
• Edit the signs of the Sum block corresponding to rotation to "+-" since one
term is positive and one is negative.
• Edit the signs of the other Sum block to "-+-" to represent the signs of the
terms in Kirchoff's equation.

Now, we will add in the torques which are represented in Newton's equation. First, we
will add in the damping torque.

• Insert a gain block below the inertia block, select it by single-clicking on it,
and select Flip from the Format menu (or type Ctrl-F) to flip it left-to-right.
• Set the gain value to "b" and rename this block to "damping".
 • Tap a line (hold Ctrl while drawing) off the rotational integrator's output and
connect it to the input of the damping gain block.
• Draw a line from the damping gain output to the negative input of the
rotational Sum block.

Next, we will add in the torque from the armature.

• Insert a gain block attached to the positive input of the rotational Sum block
with a line.
• Edit it's value to "K" to represent the motor constant and Label it "Kt".
• Continue drawing the line leading from the current integrator and connect it to
the Kt gain block.

Now, we will add in the voltage terms which are represented in Kirchoff's equation.
First, we will add in the voltage drop across the coil resistance.

• Insert a gain block above the inductance block, and flip it left-to-right.
• Set the gain value to "R" and rename this block to "Resistance".
• Tap a line (hold Ctrl while drawing) off the current integrator's output and
connect it to the input of the resistance gain block.
• Draw a line from the resistance gain output to the upper negative input of the
current equation Sum block.

Next, we will add in the back emf from the motor.

• Insert a gain block attached to the other negative input of the current Sum
block with a line.
• Edit it's value to "K" to represent the motor constant and Label it "Ke".
• Tap a line off the rotational integrator output and connect it to the Ke gain
block.
The third voltage term in the Kirchoff equation is the control input, V. We will apply
a step input.

• Insert a Step block (from the Sources block library) and connect it with a line
to the positive input of the current Sum block.
• To view the output speed, insert a Scope (from the Sinks block library)
connected to the output of the rotational integrator.
• To provide a appropriate unit step input at t=0, double-click the Step block and
set the Step Time to "0".
Open-loop response
To simulate this system, first, an appropriate simulation time must be set. Select
Parameters from the Simulation menu and enter "3" in the Stop Time field. 3 seconds
is long enough to view the open-loop response. The physical parameters must now be
set. Run the following commands at the MATLAB prompt:
J=0.01;
b=0.1;
K=0.01;
R=1;
L=0.5;
Run the simulation (Ctrl-t or Start on the Simulation menu). When the simulation is
finished, double-click on the scope and hit its autoscale button. You should see the
following output.

Extracting a Linear Model into MATLAB

A linear model of the system (in state space or transfer function form) can be
extracted from a Simulink model into MATLAB. This is done through the use of In and
Out Connection blocks and the MATLAB function linmod. First, replace the Step
Block and Scope Block with an In Connection Block and an Out Connection Block,
respectively [these blocks can be found in the Connections block (ports and
subsystems) library]. This defines the input and output of the system for the extraction
process.
Save your file as "motormod.mdl" (select Save As from the File menu). MATLAB will
extract the linear model from the saved model file, not from the open model window.
At the MATLAB prompt, enter the following commands:

[A,B,C,D]=linmod('motormodel')
[num,den]=ss2tf(A,B,C,D)
You should see the following output, providing both state-space and transfer function
models of the system.
A =

-10.0000 1.0000
-0.0200 -2.0000

B =

0
2

C =

1 0

D =

num =

0 0.0000 2.0000

den =
 1.0000 12.0000 20.0200
To verify the model extraction, we will generate an open-loop step response of the
extracted transfer function in MATLAB. Enter the following command in MATLAB.
step(num,den);
You should see the following plot which is equivalent to the Scope's output.

Implementing Lag Compensator Control

A Lag Compensator is used with the following transfer function.

To implement this in Simulink, we will contain the open-loop system from earlier in
this page in a Subsystem block.

• Create a new model window in Simulink.

• Drag a Subsystem block from the Connections block library into your new
model window.
 • Double click on this block. You will see a blank window representing the
contents of the subsystem (which is currently empty).
• Open your previously saved model of the Motor Speed system,
motormod.mdl.
• Select Select All from the Edit menu (or Ctrl-A), and select Copy from the
Edit menu (or Ctrl-C).
• Select the blank subsystem window from your new model and select Paste
from the Edit menu (or Ctrl-V). You should see your original system in this
new subsystem window.
• Close this window. You should now see input and output terminals on the
Subsystem block.
• Name this block "plant model".

Now, we will insert a Lag Compensator into a closed-loop around the plant model.
First, we will feed back the plant output.

• Draw a line extending from the plant output.

• Insert a Sum block and assign "+-" to it's inputs.
• Tap a line of the output line and draw it to the negative input of the Sum
block.

The output of the Sum block will provide the error signal. We will feed this into a Lag
Compensator.
 • Insert a Transfer Function Block after the summer and connect them with a
line.
• Edit this block and change the Numerator field to "[50 50]" and the
Denominator field to "[1 0.01]".
• Label this block "Lag Compensator".

Finally, we will apply a step input and view the output on a scope.

• Attach a step block to the free input of the feedback Sum block and attach a
Scope block to the plant output.
• Double-click the Step block and set the Step Time to "0".

Closed-loop response
To simulate this system, first, an appropriate simulation time must be set. Select
Parameters from the Simulation menu and enter "3" in the Stop Time field. The
design requirements included a settling time of less than 2 sec, so we simulate for 3
sec to view the output. The physical parameters must now be set. Run the following
commands at the MATLAB prompt:
J=0.01;
b=0.1;
 K=0.01;
R=1;
L=0.5;
Run the simulation (Ctrl-t or Start on the Simulation menu). When the simulation is
finished, double-click on the scope and hit its autoscale button. You should see the
following output.