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UFMFV7-15-2 Control - CW PDF
UFMFV7-15-2 Control - CW PDF
Module Details
Dates
Deliverables
Mohammad Mohatram
Assignment Details
1.2 Submission
The assignment submission should include: the report, a MATLAB script file (.m file) containing
your calculation data (e.g., calculated gain values) and a SIMULINK file (.slx file) with your
overall system (including controller implementation).
All calculations must be presented within the report. The report should include an introduction,
results for each task, a discussion of findings, concluding statements and references. For each
task, a proper description of the methodology is expected. For example, during block
simplification, it is important to outline the process undertaken.
Page Limit 10 A4 Pages (single sided), with a minimum of 11-point font size. Appendices are not
allowed.
2 Assignment Task
2.1 System Modelling
A common actuator in control systems is the DC motor. It directly provides rotary motion
and, coupled with mechanical load such as wheels or drums and cables, can provide
translational motion. The electric circuit of the armature and the free-body diagram of the
rotor are shown in the following figure:
Figure 2.1: DC motor with mechanical load
In the figure above, v is the armature voltage, i is the armature current, e is the back
electromotive force (emf), R is the armature resistance, L is the armature inductance and ω is
the shaft speed of the motor; J is the equivalent inertia on the motor shaft, T is the driving
torque generated by the motor, and TL is the resistive torque from the load. It is known that e
= Keω, T = Kt i and TL = Kt iL, where Ke and Kt are respectively the back emf and torque
constants of the motor, and iL is the equivalent load current reflected by the load torque TL to
the motor armature.
In general, the torque generated by a DC motor is proportional to the armature current i and
the strength of the magnetic field B. Here, we assume that the magnetic field is constant and,
therefore, the motor torque is proportional to only the armature current i by a constant
factor Kt. This is referred to as an armature-controlled motor. For a small motor, the armature
inductance is small, i.e., L ≈ 0, and hence can be neglected. Also, at the start of the motor, e =
Keω ≈ 0. Ignoring the resistive torque, your task is to develop the controller algorithms to
control the rotation of the load. That is, to control the angular position of the DC motor with
certain performance parameters.
- First, for system modelling, derive the transfer function G(s) that represent the relationship
between the angular velocity ω(s) and input voltage 𝑣(s)). Then find the transfer function
that represent the relationship between the angular position 𝜃(s) and input voltage 𝑣(s)).
V(s)
(Calculations 5 marks)
2.2 Controller Design
A PID Controller can be incorporated into the closed loop model (Figure 2.3) in order to meet a
set of time response related requirements (e.g., overshoot).
Figure 2.3: Overall System Block Diagram with PID Control Configuration
Discuss any trade-offs for exceeding the response requirements presented in Section 2.3.
For example, what’s happened to rise time, if Overshoot Mp goes up? Discuss the results when each
of the above controller requirements goes up or down.
(Calculations - 20 marks)
2.4 Trial-error rules for PID tuning --- Ziegler-Nichols approaches
The aim of this section is to demonstrate your ability to use the course knowledge to learn new
techniques. Assumingly you have got a job in a control engineering company, your manager has
asked you to take the following task:
Research the literature and find out about manual tuning rules such as the Ziegler-Nichols
technique. Tuning rules such as Ziegler-Nichols are difficult to implement on PID controller
configurations. Convert your system to a PID controller configuration and apply a suitable tuning
process (e.g., Ziegler-Nichols tuning rules) in order to meet/exceed the response characteristics
outlined in Section 2.3. You should give a concise overview of PID tuning methods in this
section and demonstrate the designed control system by Simulink.
(Calculations 15 marks)