%SAMBA LEE NAKHUNGU

%F17/37368/2016

%TRANSFER FUNCTION OF INNER CURRENT LOOP

num=13;
den=[0.029 1];
G_LAPLACE=tf(num,den);

%Z TRANSFORMATION OF INNER CURRENT LOOP

T=1.2/1000;
G_DISCRETE=c2d(G_LAPLACE,T);

%UNCONTROLLED INNER CURRENT LOOP PARAMETERS

figure(1)
step(G_DISCRETE)
unctrolled_parameters=stepinfo(G_DISCRETE);

figure(2)
bode(G_DISCRETE)
margin(G_DISCRETE)

T1=0.029;
a=1-(T/T1);
Kr=0.58;

%DEFINING PI CONTROLLER
z=tf('z',T);
H=(z-a)/(z-1);
Gc_DISCRETE=Kr*H;

%PI CONTROL ON INNER CURRENT LOOP

Tf=G_DISCRETE*Gc_DISCRETE;

%CLOSED CURRENT LOOP

CURRENT_Tf_CL=feedback(Tf,1);

%CURRENT LOOP PARAMETERS AND PLOTS

figure(3)
step(CURRENT_Tf_CL)
current_controlled_parameters=stepinfo(CURRENT_Tf_CL);

figure(4)
bode(CURRENT_Tf_CL)
margin(CURRENT_Tf_CL)

%SPEED CONTROL LOOP

Ts=4.4/1000;
num2=1;
den2=1;
G_LAPLACE2=tf(num2,0.676*den2);
G_DISCRETE2=c2d(G_LAPLACE2,T);

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%PI CONTROLLER FOR SPEED LOOP
T1_2=0.024
a2=1-(T/T1_2);
Kr2=40
z2=tf('z',T);
H2=(z2-a2)/(z2-1);
Gc_SPEED=Kr2*H2;

%TOTAL OPEN LOOP PLANT TRANSFER FUNCTION

Tf2=G_DISCRETE2*Gc_SPEED*CURRENT_Tf_CL;

%ENTIRE SYSTEM CLOSED LOOP TRANSFER FUNCTION WITH CURRENT AND SPEED CONTROL
TF_CL=feedback(Tf2,1);

%PLANT CLOSE LOOP STEP RESPONSE,PARAMETERS AND BODE PLOT.

figure(5)
step(TF_CL)
speed_and_control_controlled_parameters=stepinfo(TF_CL);

figure(6)
bode(TF_CL)
margin(TF_CL)

T1_2 =

0.0240

Kr2 =

40

Warning: Simulation did not reach steady state. Please specify YFINAL if this
system is stable and eventually settles.

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Published with MATLAB® R2024a