DC Servo motor

Objectives
•Modeling and simulation for DC servo
motor
•Check the step response of the system
•Improve response using PID controller.
Introduction
• Dc servo motor is a
device that its shaft
follow the input
signal
• can be controlled by
Figure 1
potentiometer or a
variable dc source
• Control the Position
by using feedback
tachometer.
Mathematical Model
• KVL:
𝑑𝑖 𝑡 Vs(t)=Source voltage
𝑉𝑠 𝑡 = 𝑅𝑚 𝑖 𝑡 + 𝐿𝑚 + 𝑉𝑏 (𝑡) i(t) = Current
𝑑𝑡 Vb(t) = back emf
• Laplace: 𝜃 = shaft position
𝑉𝑚 𝑠 = 𝑅𝑚 𝐼 𝑠 + 𝑠𝐿𝑚 𝐼(𝑠) + 𝑉𝑏 𝑠 1 K = electromotive force
constant
𝜔𝑚 = Measured angular Speed
𝑉𝑏 𝑠 = 𝐾𝑚 𝜔𝑚 𝑠 2 R = Motor Armature Resistance
L = Inductance

• 𝜔𝑚 𝑡 = 𝜃ሶ 𝑡
• 𝜔𝑚 𝑠 = 𝑠𝜃 𝑠
Mathematical Model
𝑇(𝑡) = 𝐽𝜃(𝑡) ሷ + 𝑏𝜃(𝑡)ሶ = 𝐾𝑡 𝑖 𝑡
• Laplace:
𝑇(𝑠) = 𝐽𝑠 2 𝜃(𝑠) + 𝑏𝑠𝜃(𝑠) = 𝐾𝑡 𝐼 𝑠
• Rearranging:
[𝐽𝑠 2 +𝑏𝑠]θ(s) [𝐽𝑠+𝑏]𝜃ሶ (s)
𝐼 𝑠 =
𝐾𝑡
=
𝐾𝑡
3
𝐾𝑡 = 𝐾𝑚
Mathematical Model
Subtitling 2 and 3 in 1 and arranging:

𝜔(𝑠) 𝐾
𝑇𝑓 𝑠 = =
𝑉(𝑠) 𝐽𝑠 + 𝑏 . 𝐿𝑠 + 𝑅 + 𝐾 2
DC motor parameters:

R= 0.78 ome, L=0.0016H, J=0.05, b=0.01

Simulink model of the DC servo motor
The step response of the system
The step response of the system
• RiseTime: 2.1271
• SettlingTime: 3.8262
• SettlingMin: 0.9036
• SettlingMax: 0.9997
• Overshoot: 0
• Undershoot: 0
• Peak: 0.9997
• PeakTime: 7.7738
Simulink model of the DC servo motor with the PID controller

kd=2; kp=30; ki=6;

The response after using PID controller
RiseTime: 0.0787
• SettlingTime: 0.2021
• SettlingMin: 0.9004
• SettlingMax: 1.0030
• Overshoot: 0.2955
• Undershoot: 0
• Peak: 1.0030
• PeakTime: 0.3769
The response after using PID controller
Thank you