Control System of Armature DC Speed Motor

Mohammad Fauzan Bin Ramli#1, Nabil Syazzani Bin Ismail#2, Muhammad Nur Iman Bin Roslee#3, Zaty Norazlina Bt Zulkifli#4, Nurul Sharmimi Bt Mohd Norman#5, Nurul Nadia Bt Abd Aziz#6
#

Department Of Electrical Engineering,

Faculty Of Electrical & Electronic Engineering University Tun Hussein Onn(UTHM), Malaysia
1

mimieynorman@yahoo.com

Abstract All of the system surrounding is being controlled,

whether with or without the feedback. Being controlled means obtaining the output of the system as desired. In other to maintain the desired output with desired performance, given a specified input, performance of system will be observe, through the transient response and the steady-state error. Considered the system has some errors, producing false output after the input is going through, a feedback will correct the output error compared to input to gain the desired output. So do dc speed motor system, theory has said that the purpose of a motor speed controller is to take a signal representing the demanded speed, and to drive a motor at that speed. The result of performance will be observe over theory (using simulink) and practical (using servo motor set).

Fig. 1 Basic control system block diagram

I.

INTRODUCTION
Fig. 2 DC Motor block diagram

Control system is an interconnection of components which is to form a system configuration that will provide desires system response. In order to determine the desired output of the system, users has to decide whether the system either control by an open loop or closed loop system. This is the most important part as the result of the output is affected by that kind of system. In this project, closed loop system has been chosen which is to determine the armature DC motor speed. To determine the speed, procedures has to be followed as to make sure the research can be done in the specific period that has been decided. The objective of this project is to encourage the student on how to obtain the transfer function of certain system which is specifically based on the theory learned from class and practical that has been done in lab. There is also the purpose of this project is to expose and in the same time to familiarize the student with the equipments such as MS150 DC Motor Control Modules, instruments such as function generator and oscilloscope and to calibrate potentiometers, Op Amp and pre-amplifier. The scopes of the project are (1) the simulation of the system will be done by using MATLAB and the performance of uncontrolled system will be compared to the controlled system.

II.

LITERATURE REVIEW

Theres a equipments that student must take note before using it to determine the waveform based on the transfer function that has been determine before. The equipments are : A. Power Supply PS150E Provides the 15 volt DC power supplies through two sets of sockets. These sockets are used to operate small amplifiers and provide reference voltage. The Ammeter is used for monitoring motor overload. The AC outputs are not used in the experiments.

Fig. 3 PS150E

B. Potentiometers The module includes an Input Potentiometer IP150H (input position transducer), an Output Potentiometer

OP150 K (output position transducer), and an Attenuator Unit AU150B containing two smaller potentiometers, which are used to adjust gains in the forward and feedback paths. The input and output pots are fitted with discs graduated (in degrees) on their shafts. However, the output pot can be rotated continuously over 360, whereas the input pot has a limited rotation of about 150. Both these 'angular position transducers' are normally supplied with +15 and 15 volts, so that their outputs can vary linearly from zero to almost either of these limits as their shafts are rotated in either direction from a central (zero) position. Normal operation is symmetrical about this zero position. Note that in the output pot, a zero-voltage transition also occurs at the + or 180 position, hence requiring operation which ensures output angular displacements within these limits. Assuming that the total voltage applied across the output pot is 30 volts, and the rotation is 360, the positionto-voltage transducer sensitivity K0 will be 30 / 360 0.083 volt / deg., or approx. 4.8 volts/radian. The input and output potentiometers should be calibrated to obtain their sensitivity constants and/or to confirm whether Ki Ko.

D. MATLAB Is a numerical computing environment and fourthgeneration programming language. Developed by MathWorks, MATLAB allows matrix manipulations, plotting of functions and data, implementation of algorithms, creation of user interfaces, and interfacing with programs written in other languages, including C, C++, Java, and Fortran.Although MATLAB is intended primarily for numerical computing, an optional toolbox uses the MuPAD symbolic engine, allowing access to symbolic computing capabilities. An additional package, Simulink, adds graphical multi-domain simulation and Model-Based Design for dynamic and embedded systems. E. Oscilloscope An oscilloscope (also known as a scope, CRO,DSO, or O-scope ) is a type of electronic test instrument that allows observation of constantly varying signal voltages, usually as a two-dimension graph of one or more electrical potential differences using the vertical or Y axis, plotted as a function of time, (horizontal or X axis ). Although an oscilloscope display voltage on its vertical axis, any other quantity that can be converting to a voltage can be displayed as well. In most instances, oscilloscope shows an event that repeats with either no charge or change slowly. III. METHODOLOGY

A. Transfer function of motor

Fig. 4 IP150H and OP150K

C. Operational Amplifier OA150A An op-amp normally connected as a unity-gain summing-inverter by means of the 3-position switch mounted on it. It is used as the angular-position-error detector. Since the unit is a summing amplifier, the feedback signal polarity must be reversed with respect to the reference signal, in order that the output will represent the error. The unit has three summing input terminals, and the output is available at two (or three) output sockets. The unit also has a zero-set control and a selector switch, which selects the feedback (normally resistive) within the unit. The selector switch is normally switched to the leftmost position indicating resistive feedback with unity gain. The op-amp must be zeroed before use.

Fig. 6 The whole system of dc motor

1) Armature.

Fig. 5 OA150A
Fig. 7 Armature transfer function

4) Overall System

Fig. 8 Armature block diagram

2) Motor.

Fig. 13 Overall system transfer function

Fig 9. Motor transfer function

Fig. 14 Overall system block diagram

Component Values given as ;

Fig 10. Motor block diagram

3) Load.

Kf = 0.005 Km = 36 Nm/Amp Kb = 0.972 Nm/Amp R = 200 L = 50.68 H J = 0.02 kg.m2/s2

Therefore, the system transfer function is :

H(s) =

36 +4.2s+36
IV. ALGORITHM

Fig. 11 Load transfer function

I.

Proportional Derivative Controller Proportional-Derivative control is useful for fast response controllers that do not need a steady-state error of 0. Proportional controllers are fast. Derivative controllers are fast. The two together is very fast. 1) Proportional Action : Proportional action provides an instantaneous response to the control error. This is useful for improving the response of a stable system but cannot control an unstable system by itself. Additionally, the gain is the same for all frequencies leaving the system with a nonzero steady-state error.

Fig. 12 Load block diagram

2) Derivative action : Acts on the derivative or rate of change of the control error. This provides a fast response, as opposed to the integral action, but cannot accommodate constant errors (i.e. the derivative of a constant, nonzero error is 0). Derivatives have a phase of +90 degrees leading to an anticipatory or predictive response. However, derivative control will produce large control signals in response to high frequency control errors such as set point changes (step command) and measurement noise.

II.

Self construct OPAMP In the simulink, PID is a controller shown as a block. In the practical use, this PID controller will be convert to opamp which by mean, opamp will be act as the PID controller. From the matlab, we get the value : K1 = 9.2662, K2 = ignored, K3 = 0.11318.

CPD(s) = KP( 1 + TDs)

Where : KP PID control gain TD Derivative gain/ derivative time

1) Given PID formula, K3[s + (K1/K3) +(K2/K3)s] Ignore K2, therefore ; K3[s + (K1/K3))] 2) PID controller circuit formula -R2C(s + 1/(R1C)) -R2C(s + 1/R1C) = K3(s + K1/K3) K3 =-R2C 0.11318= -R2C *Assume, C1 =10(Farad) C2=0(PD op amp circuit does not using c2) =0.11318/10 =11.318k = 12k. S + K1/K3 = s + 1/R1C K1/K3 =1/R1C R1 =K3/K1C = 0.11318/9.2662(10F) = 1k R2

Fig. 15 How to get the correct value of PD base on transfer function given. (Auto tune)

Fig. 17 Op amp circuit Fig. 16 The values difference between autotune PD value and self state PD value.

V. A. Without Controller

RESULT

Fig. 18 system without controller

Fig. 22 Output reading at scope

C. With PD Controller

Fig. 19 Output reading at scope

Fig. 23 System With PD controller

B. With P Controller

Fig. 20 system with P controller Fig. 24 Output reading at controller

Fig. 21 Output reading at controller

Fig. 25 Output reading at scope

D. Comparison table of Tp, Tr, Ts and %OS Real(PD) 0.440s 0.180s 1.4s -

VII.

REFERENCE

W/O Tp Tr Ts % os 0.559s 0.366s 1.905s 28.56

P 1.03s 0.116s 1.87s 52.6

PD 1.09s 0.0288s 0.277s 20.7

N. S. Nise's,Control Systems(Control Systems Engineering), 5th Edition [Hardcover], 2007. Joseph DiStefano, Feedback and Control Systems, 2nd Edition (Schaum's Outline Series), 1998. Bernard Friedland Paperback, Control System Design: An Introduction to PID system (Dover Books on Electrical Engineering), 1999. Tamer Mansour, PID Control: Implementation and Tuning, Intech, 2011. Jan C. Willems, The Analysis of Feedback Systems, The MIT Press, 1971. Andrew Whitworth, Control System, Wikibooks, 2006. Derek Atherton, Control Engineering: An introduction with the use of Matlab, BookBoon, 2009. Hugh Jack, Dynamic System Modeling and Control, 2005. John Doyle, Bruce Francis and Allen Tannenbaum, Feedback Control Theory, 1990. Eduardo D. Sontag, Mathematical Control Theory: DC Motor System, Springer, 1998.

Speed motor = 1400rpm VI. DISCUSSION

From the findings, the results show some difference in all of the method, whether without controller, with P and PD controller and practical practise. Firstly, the system is observed using MATLAB simulink. When no controller is used to drive the plant (motor transfer function), the result shows that the system has overshoot and the time for system to rise, settling time and so on takes a bit long, compared to other result. This is because, there is no controller to control the input that keeps rotation in the close loop system until steady state, hence the system become less efficient. After applying P controller at the system, the value of rise time, settling time and so on becomes faster, showing that the system efficiency has improved. After applying the PD controller, rise time, settling time and so on become even faster, showing the system much more efficient. When applying the system with PD controller in laboratory, result shows that the rise time, settling time and so on in increase, even better compared to system without controller. However, the value is quite big compared to system with PD controller by using MATLAB simulink. This is because, in practical use, noise can interface by many source surround the system. For instance, thermal noise that is generated while signal is going through ic and man made noise. To reduce the noise, we can decrease the value of frequency at function generator.

VII. CONCLUSION