MME 9624

Actuator Principles, Integration and Control

Assignment 1: Electric Motors
Dept. of Mechanical & Materials Engineering Instructor: Prof. Aaron Price
Faculty of Engineering Due Date: Thurs. October 17, 2019 5:00 pm
Western University Total Marks: 5 points

Instructions: Assignment submissions must be uploaded electronic files via our OWL site’s
Assignments tool (https://owl.uwo.ca/x/oETf1D). Portions of this assignment require the
use of MATLAB. This software is available to UWO graduate students for installation on their
personal computers, see: http://www.uwo.ca/wts/sitelicense/matlab

1. (5 points) A DC brush motor has the following parameters operating at its maximum
voltage of 70 V. It is connected to a load with an inertia of 1 × 10−3 kg · m2 .

(a) Estimate the viscous damping coefficient, b.

(b) Plot the steady-state torque–speed curve for this motor. Table 1: Motor parameters
What is the value of Ke (in [V · s/rad])?
Parameter Value
(c) If operated without feedback (i.e. open loop), what voltage
should be applied to the motor (with load) to obtain a steady- Kt 0.096 N · m/A
state speed of 300 rad/s? How much time is required to reach R 1.18 Ω
98% of this value? L 2.6 mH
nNL 6875 rpm
(d) Use MATLAB to model the controller below to regulate the iNL 750 mA
speed of the motor using voltage control: Jm 5.86 × 10−5 kg · m2

s + 11.43
C(s) = 0.2
s
Assume the velocity sensor has a gain of 1 with the speed in
[rad/s]. What is the role of the integrator for this application?
Will the controller exceed the motor input voltage for a step input command of 300 rad/s?
Compare the closed loop settling time to that of part (c).

e) Compare the response of the open loop system of part (c) to the closed loop system of part (d)
to a step disturbance torque of 0.5 N · m.

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