NCEEERE 2008, Sikkim Manipal Institute of Technology, Sikkim – 737 132, INDIA

Mathematical Modeling & Simulation of DC

Servomechanism Using MATLAB/SIMULINK
and Their Integration into Undergraduate
Control Engineering Courses
P. M. Menghal C. S. Kudarihal

Abstract-Today, with the advent of computers and various easily

accessible software packages, computer aided teaching tools have
become an essential part of both classroom lectures and laboratory II. MATHEMATICAL MODELING AND
experiments in any kind of education curriculum. The computational SIMULATION
tools, as a part of control engineering laboratory experiments, enhance
lab experience by providing students with the opportunity to verify the
results of the experiments and to compare them with those obtained by A DC servomechanism (ES-130) is a device used to
computer aided simulations. A case is made for the use of provide control of a desired operation through the use
MATLAB/SIMULINK as a teaching and research tools in engineering of feedback. Servos are commonly electrical or partially
education. This paper will also emphasize on the use of mathematical electronic in nature, using an electric motor as the
modeling and simulation of DC Servo Mechanism and study of their
behaviour by using the MATLAB/SIMULINK models and Graphical primary means of creating mechanical force.
User Interface (GUI).[1-2] As the user can change the parameters of The experimental setup of DC Servomechanism is
the systems as per his choice or required condition, this computational shown in fig 1
tool as a part of laboratory experiments will enhance laboratory
experience by providing students with the opportunity to compare the
results of laboratory experiments with those obtained by computer
simulation. Such an opportunity helps students of all courses realise
the limitations of hardware

Keywords: DC Servomechanism, GUI, MATLAB/SIMULINK

I. INTRODUCTION

A virtual laboratory for Automatics and Control

Engineering can provide university students with easy
access to engineering applications at anytime and from any
computing environment. This interactive learning
environment, consisting of simulations, demonstrations and
exercises, can fulfill the role of a bridge from passive
Fig (1) Experimental setup of DC Servomechanism
learning to active engagement and thus stimulate deeper
This experimental setup has following main
thinking; grounding a problem based-learning environment.
components:
The applications are also very important for relating theory
(i) DC Servomotor
to practice, so that the students can develop engineering
(ii) Tachogenerator
judgment and understand how process behavior can be
(iii) Input & output Potentiometer
captured using mathematical models. The undergraduate
(iv) Reduction gears
control engineering at engineering colleges is
(v) Flexible coupling
based on a strong “hands-on” laboratory experience.
(vi) Input & Output shafts
Regardless of how many fine lectures are given or how
The mathematical modeling of DC servo motor in
many homework problems assigned, the students do not see
armature control and field control mode has been
how control systems work in the real world until they get
carried out by writing the differential equation as
into the laboratory. [3]They do not understand that they can
follows :
modify the performance of a physical system to meet design
e – La dia/dt –Ra ia - eb = 0 (1)
specifications. Only after they complete the laboratory
T α Ø Ia (2)
course do they understand the power that they have to
T = Jd2θ/dt2 + fodθ/dt (3)
become “control gods.” After completing the lab
eb = Kbω (4)
experiments on virtual laboratory, the students first
The simulated model after doing mathematical
characterize the performance of a second order system (a dc
modeling for DC servomechanism (ES130) in armature
servomechanism ES-130).This paper describes the
controlled and field control mode are shown in fig 2(a)
mathematical modeling of DC Servomechanisms (ES-130)
and (b)
and study of their behaviour by using
MATLAB/SIMULINK model and GUI. A graphical user
interface is developed which is user friendly and not
required the knowledge of Matlab.
NCEEERE 2008, Sikkim Manipal Institute of Technology, Sikkim – 737 132, INDIA

1 2.5 In1 Out1 1/16

Step Input Polarity Amp Gear Ratio Output

DC motor

Tm Rad
Angle
1 Ia 1 Speed 1
1 600 1
In1 2s+7 5s+4 s Out1
TF1 Kt TF2 Integrator
(b) Field Controlled mode
0.045 Fig-(4) Characteristics of DC Servomechanism
Kb

If Tm Speed Angle
1 1 1
1 5 1
In1 3s+5 s+1 s Out1
TF1 Kt TF2 Integrator

Fig -2 Simulink Model for DC Servomechanism

(a) Simulink model for Armature control of DC motor
(b) Simulink model for Field control of DC motor
(a) Armature Controlled mode
The simulated model can be used to perform following
experiments:
(i) Open Loop (ii) Closed Loop (iii) Characteristics of DC
servo motors. (iv) Frequency Response (v) PID Control and
(vi) System Time Constant.
The developed simulation model of closed loop system with
PID controller is shown in fig.3

du/dt 4

Summer Derivative D-Gain

(b) Field Controlled mode
1 1 2.5 In1 Out1 1/16
Fig-(5) Characteristics of DC Servomechanism with
Step Input Polarity P-Gain Add Amp
DC motor
Gear Ratio Output PID Controller
1
.5
s
The following inferences are drawn from the
Integrator I-Gain
0.76 simulation results of DC Servomechanism:
Tacho
(i) In Armature Controlled mode characteristics, it is
observed that for increase in input voltage the output
Fig-(3) The Simulink model Servomechanism with
response (i.e. Angular Displacement, Speed and
PID controller.
Torque) also increases and reaches its steady state value
faster.
III. RESULTS & ANALYSIS
(ii) In filed control mode the response is oscillatory and
The characteristics of the DC servo mechanism for different
takes more settling time to reach the steady state value.
experiments are shown in fig.4 and 5
(iii) By using PID controller the transient as well as
steady state response improves.
(iv) As seen from the graphs in Fig(6), when a step
input is given to field controlled motor, a large time
constant (11 sec) is obtained, shows a sluggish system
and in case of Armature controlled motor, a small time
constant (6 sec) is obtained corresponds to a fast
response as shown in fig. 6(a)

(a) Armature Controlled mode

2
NCEEERE 2008, Sikkim Manipal Institute of Technology, Sikkim – 737 132, INDIA
Maximum Speed
Response
of motor
8 14
(a) Armature Control
Maximum
Speed
Response
of motor
8 19
(a) Field Control
Fig-(6) Determination of time constant
IV. NOTABLE FEATURES OF DC
SERVOMECHANISM
SIMULATION MODEL
The DC Servomechanism Simulation Model with graphical
user interface is shown in fig 6 .It consists of the complete
detail of mathematical modeling using the modules
available in SIMULINK for open loop, close loop, PID
control, frequency response and system time constant
experiments in both armature controlled and field controlled
mode. Then the programming of each selected module was
carried out. For the ease of the user a graphical user
interface was modeled for all the above said experiments on
a single platform. The platform includes:
(a) Buttons to perform all the experiments.
(b) Controls to change the system parameters.
(c) View the results of the experiments in the graphical
form.
(d) Compare system response for angular displacement,
speed and torque of different experiments performed in
armature and field controlled motors.
(e) A menu bar on activation of which brief description
along with the transfer function of the experiments
performed can be viewed.
(f) A menu bar to simulate directly the SIMULINK circuits
diagrams and see the results in separate window.
(g) SIMULINK diagram of the current experiment.
(h) An EXIT button to come out of the GUI page of project.
(j) A refresh button to clear all the graphs and diagram
displayed earlier.
3
(k) A button to see the SIMULINK diagram of DC
Servomechanism in both the modes.
(m) Menu bar to see different values in the graph, to
zoom in/out and other controls.
(n) A course ware for each experiment is prepared and
successfully integrated in to the control engineering
laboratory at Radar and Control Engg.Dept.Faculty of
Electronics, Military College of Electronics &
Mechanical Engineering, Secunderabad .
Fig (7) Simulated DC Servomechanism
V. THE EDUCATIONAL USE OF THE MODELS
DC Servomechanisms is very useful for performing
experiments and understanding the basic concepts of
feedback systems in the control system laboratory. Its is
a fundamental system useful to any course of
instruction including basic subjects in electronics and
Electrical Engg at undergraduate courses. The
MATLAB/SIMULINK models and GUI representation
of closed loop, open loop, PID Control, etc of ES-130
servo system will definitely work as teaching tool and
support the classroom teaching by enabling the
instructor, through the computer-generated graphics, to
illustrate transient and steady-state performance and
stability analysis of control system under various
parameter controls. The user can change the parameters
of the systems as per his choice or required condition,
thus this computational tool as a part of laboratory
experiments will enhance laboratory experience by
providing students with the opportunity to compare the
results of laboratory experiments with those obtained
by computer simulation. Such an opportunity helps
students of all courses realise the limitations of
hardware.
VI. CONCLUSION
The MATLAB/SIMULINK models and GUI
representation of DC servo system will definitely work
as teaching tool and support the classroom teaching by
enabling the instructor, through the computer-generated
NCEEERE 2008, Sikkim Manipal Institute of Technology, Sikkim – 737 132, INDIA

graphics. As the user can change the parameters of the P.M.Menghal is working as a faculty in Radar and
systems as per his choice or required condition, this Control System Department, Faculty of Electronics,
computational tool as a part of laboratory experiments will Military College of Mechanical Engineering,
enhance laboratory experience by providing students with Secunderabad, A.P., India. He received Master Degree
the opportunity to compare the results of laboratory in Control Systems, from Government College of
experiments with those obtained by computer simulation. Engineering, Pune,University of Pune. He is a Member
Such an opportunity helps students of all courses realise the of Institute of Engineers (MIE), India and Life member
limitations of hardware. A Virtual laboratory for Automatic of Indian Society of Technical Education(ISTE). His
Control (AC) allows students an easy access to different current research interest are in the areas of Control
applications, simulations related to the theory they study. system, Mathematical Modeling and Simulation.
These interactive demos present in a tutorial manner the Email : prashant_menghal@yahoo.co.in
influence of the different parameters of the mathematical
model to the system behavior. These simulations provide a C S Kudarihal is working as a faculty in Radar and
more intuitive and more practical approach for the abstract Control System Department, Faculty of Electronics,
theory of AC. The advantage of the approach presented here Military College of Mechanical Engineering,
is the use of the available simulations tools. The user can Secunderabad, A.P., India. He received Master of
focus on the learning and understanding of problems and Technology in Energy Systems Engineering, from
concepts, as he/she doesn’t have to master the Matlab Visveshwaraih Technological University, Belgaum,
programming environment. Karnataka. He is a member of instate of engineers
(MIE), India and life member of Indian Society of
APPENDIX Technical Education (ISTE). His research is focused on
The parameter of ES-130 DC Servo mechanism Microcontrollers, Embedded Systems and Energy
Kt = 600 Kb = 0.045 Ra = 7 ohm La = 2 H management.
fo = 4 J=5
REFERENCES
[1] Saffet Ayasun, Chika O. Nwankpa “Induction motor
tests using MATLAB/SIMULINK and their integration in to
undergraduate electric machinery courses” IEEE
Transactions on education, vol 48 No.1Feb 2005 pp 37-46.
[2] O. I. Okoro C.U. Ogbuka M.U.Agu “Simulation of D.C.
machines transient behaviours : Teaching and Research”
Pacific journal of science and technology vol.9 No.-1 May-
June 2008 pp.142-148.
[3] Erin Harley ,G.R.Loftus “MATLAB and graphical user
interfaces: Tools for experimental management” Behaviour
Research Methods, Instruments and Computers 2000 vol
32(2) pp 290-296.
[4] M. Javed, H. Aftab, M.Qasim, M.Sittar “RLC Circuit
response and Analysis (using State Space Method)”
International journal of computer science and network
security vol.8.No.4 April 2008 pp-48-54.