DC machine position, speed and current control.

Objective: The aim of this CAD exercise is to design and implement, using
MATLAB/Simulink tools, armature current, speed and position controllers. The scheme
uses a linear model of the DC machine and AC/DC converter.

Separately excited DC machine, rated as follows:

Rated output power Pout = 14 Kw
Rated Armature Voltage Vrated = 400 V
Rated Speed ωr = 1000 RPM
Rated Torque Tr = 133.7 Nm
Rated Armature Current Iar = 42 A
Rated Field Voltage Vf = 150 V
Max. Speed ωm = 2000 RPM

And parameters as follows:

Armature Resistance Ra = 1.0
Field Resistance Rf = 150 
Armature time constant τa = 10 ms
Field time constant τf = 150 ms

A three-phase, two quadrants, six pulses AC/DC converter is used to supply the DC
machine armature. The converter is fed from a 380V, 50Hz single phase supply. A two
quadrants, two pulses AC/DC converter is used to supply the field winding. The
converter is fed from a 220V, 50Hz supply.
Both converters use a cosine firing strategy. The amplitude of both cosine signals is 1
and the firing angle is limited to 15°<α<165°.

The system inertia is J=5kgm2 and the shaft torque is proportional to the speed and
requires 70% of rated torque at rated steady state speed. The friction losses are also
proportional to the speed.

1.1 SYSTEM PARAMETERS AND RATED OPERATING POINT.

i) For rated conditions obtain the converters firing angles and the rated kΦ.
ii) For rated conditions, neglecting the armature resistance and assuming
continuous conducting current, obtain the armature current ripple.
iii) For rated obtain the field current ripple.
iv) Obtain the load and friction torque coefficients.
v) Determine the field current, stator current and voltage to drive the load at
1100rpm

1.2 DESIGN OF FIELD CURRENT LOOP

i) Design a field current controller for zero steady step error to step input.
ii) Test the response of your controller for a step change in reference current
from zero to rated, using the modelled power converter provided. Include
 the needed saturation blocks. Is it necessary to have an anti-wind-up
mechanism for the controller?

1.3 DESIGN OF ARMATURE CURRENT LOOP

i) Design a PI controller to give good damping to a zero-rated step input. Aim for
a closed loop natural frequency ωo≈120 rads-1. Check with a time response with
a step change in demanded current from zero to rated. Repeat time response
with different values of speed (0%, ±30% and ±60% rated speed). Try to have
constant speed during the armature current transient. Observe tr and Va during
the transients. Discuss the results. WARNING: In time simulations make sure
you have correct initial conditions. Use a power converter model as the one
provided.
ii) Is a voltage limiter required in your implementation? If so, introduce one into
your simulation and observe its effect. Decide if it is necessary to implement an
anti-integrator wind up. Discuss.

1.4 DESIGN OF SPEED LOOP.

i) Design a PI controller to obtain a good damping performance for the speed. Aim
for a natural frequency as high as possible. Test the controller design for
reference step speed changes from zero to 25%, to 50%, 75% and 100%.

ii) Implement an anti-integrator wind up and compare the speed responses, with
and without anti-integrator wind up.

1.4. DESIGN OF POSITION CONTROL LOOP.

i) Design a position control to obtain cero steady sate error for step changes in
position reference. Test your design for step changes in position reference for 0
to ᴨ/6, 0 to π, 0 to 2ᴨ.
ii) Design a position control to obtain cero steady sate error for ramp changes in
position reference. Test your design considering that the position changes from
0 to 4π in 8s.

REPORT. Prepare a report considering all the points above. Discuss the results and include
graphs with proper captions and axis manes.

The deadline for the report submission is:

Section 1.1 and 1.2: May the 27th.
Section 1.3: June the 3rd .
Section 1.4: June the 9th