dc_motor_control.docVIP

DC Motor Control  Roger Aarenstrup roger.aarenstrup@ Contents Introduction 3 The dc motor model 4 Speed control with pid 6 Continuous control 6 Discrete Control 7 Choosing parameters 9 Hand Code testing 10 Using Simulink Control Design Products 10 Rapid Prototyping 10 Fixed Point 11 Production Code Generation 11 Position control using state feedback pole placement 12 Attempt 1 - state feedback and static gain 12 Attempt 2 – integral action 12 Attempt 3 – Observer 13 Attempt4 – The servo case 13 Considerations 14 Bandwidth 14 Sample rate 16 References 17 Introduction This example describes how to develop speed and position control systems for a DC motor with a load. Various methods are used and the focus is on how to model and implement the various parts and not of parameter tuning. An important thing to note is that a good controller is not just a text book implementation but requires a number of additional parts to work properly. It is a good idea to go through this text together with the models and some control design literature that gives more details about the theory. Please see the references chapter for some suitable books. This text and models come with absolutely no guarantee if you find anything incorrect please let me know: Roger.aarenstrup@ The dc motor model The models used here can be downloaded from matlab central with the link; /matlabcentral/fileexchange/loadFile.do?objectId=11829objectType=file The model is a quite simple linear DC motor model with a flexible load. In the library there are MATLAB files describing a state-space representation of the model. How to derive them is described in many control system books and also in the control system toolbox documentation: /access/helpdesk/help/toolbox/control/getstart/buildmo4.html The model described there doesn’t include the flexible load how to add that is described here and in the models included. I have found that a linear model is good enough for many contr