Controls Lab Report -1 [System Modeling]

Submitted To:
Mr. Niaz Mehdi

Submitted By:
NS Mahin Akhtar(088) NS Anika Sadiq (084) NS Sana Mazahir(093) SYN-B(EE-31)

Date of Submission:
April 2, 2012

OBJECTIVE
To develop DC motor transfer function and to determine Rm of a motor through static modeling .

Apparatus:

DC Motor Control Trainer (DCMCT) Quanser QIC Processor Core and the QICii software

Pre Lab
In simple words: A model is a simplification of reality. We build models so we can better understand the system we are developing System modeling is a technique to express, visualize, analyze and transform the architecture of a system. Here a system may consist of software components, hardware components, or both and the connections between these components. A system model is then a skeletal model of the system. System modeling is intended to assist in developing and maintaining large systems with emphasis on the construction phase. Complex systems can be represented just in terms of simple mathematical expression and transfer functions, leading to representation of systems through simple block diagrams. Aims achieved throughout modeling: An overview of the system and its components. Understand the system and how the system works. Models permit us to specify the structure or behavior of a system. Model gives us a template that guides us in constructing a system. Modeling documents the decision we have made.

Mathematical Modeling of system parameters of the DCMCT:

The DCMCT motor, inertial load, power amplifier, encoder, and the filter to obtain the velocity are modeled by the Motor and Inertial Load subsystem, as represented in the figure below. The block has one input the voltage to the motor Vm and one output the angular velocity of the motor m.

The disturbance torque, Td, applied to the inertial load. The classic schematic of the armature circuit of a standard DC motor is shown below:

where

Rm Lm Vm Km
m

Tm Td Im Jeq

= = = = = = = = =

motor armature resistance motot armature inductance voltage from the amplifier that drives the motor motor torque constant motor speed which can be computed from motor angle torque generated by the motor disturbance torque externally applied to the inertial load motor armature current total moment of inertia of motor and the load

Applying Kirchhoffs Voltage Rule on the schematic of DC motor:

(Sum of all Voltages across components ) = 0

Vm = VR+ VL + Vmotor Vm = ImRm +Im L + Vm emf where Vm emf = km m

Taking Laplace transforms:

Vm(s) = Im(s) Rm +s Im(s) L - Vm emf(s)

Or alternatively,

Vm(s) = Im(s) Rm +s Im(s)Lm - kmm

By taking into account the fact that Lm<<Rm, we can neglect the inductance factor . So the equation becomes, Vm(s) = Im(s) Rm + kmm where Im(s) =[Vm(s) - kmm ] / Rm ---------------------------------------------[2] -------------------------------------------- [1]

By applying the torque balance Equation (Law of conservation of momentum):

Jeq = Jm + Je
where Jeq = Total moment of inertia of motor and the load Jm = Moment of Inertia of motor rotor The Load distribution Equation is : sJeq x m(s) = kmIm + Td(s) Separating the current: Im(S) =

--------------------------------------------------- [3]

Subtracting [3] from [1]: Vm(s) - Im(s) = Im(s) Rm - kmm

Substituting the value of Im in [4] from [2] and working out for the transfer function G,v(s):

G,v(s) = m (s)/ Vm(s) =

Indicating that the system is first order and shows a 1st order response. The transfer function follows the format of

G,v(s) =
where

K = 1/km = *Rm / km2

By working out for Km and Rm, the whole transfer function and system characterization can be worked out. Consequently, the system Block Diagram can be represented as:

Post Lab
Finding Motor Resistance(Rm)
1. Download the modeling module 2. Find Ibias as at Vm=0, Im=Ibias 3. Stop the motor shaft. Do not allow the motor shaft to move 4. Increase voltage from -5V to 5V in steps of 1V. 5. Record Im for each step and make a table 6. Find Rm=Vm/Im 7. Lastly, Ravg=

Experimental Results:
At V=0, Ibias=-0.05

Vm(i)
[V]

Im(i)
[A]

I*m(i)= Im(i)-Ibias
[A]

Rm(i)
[]

1 2 3 4 5 6 7 8 9 10

-5 -4 -3 -2 -1 1 2 3 4 5

-0.520 -0.500 -0.320 -0.250 -0.190 0.160 0.256 0.370 0.450 0.500

-0.48 -0.46 -0.28 -0.21 -0.15 0.12 0.21 0.33 0.41 0.46

10.42 8.7 10.7 9.52 6.67 8.33 9.524 9.09 9.76 10.9

Ravg = 9.3614

CONCLUSION:
From the experiment, we get to know that the armature resisitance of the motor is 9.3614 which is approximately equal to the actual resistance.