Motion Control Guiding Equations_simapp_matlab-1

Dr.
Anton Glotov Mathematische Anwendungssoftware

Department of Electrical Engineering
and Computer Science Motion Control
Coburg University of Applied Science
Motion Control video series
Electric motor modeling and simulation
Course content
1 Electric motor governing equations:
• Electrical domain
• Mechanical domain
• Laplace domain - transformation and transfer function
2 Open loop motion models:

• Laplace domain simulation
Anton Glotov • Time domain simulation
• Analysis of open-loop response
Ph.D. in Solid State
Physics and
Mathematics 3 Closed loop motion control models:
Coburg University of • Control theory and diagrams
Applied Sciences • Controllers design and performance analysis
• Time domain simulation of position and speed
Dr. Anton Glotov | Electrical Engineering and Computer Science 16.06.2023 2

Part 1
Regelungstechnischer Zusammenhang: Drehmomentregelung
Aufbau einer Positionierachse

Die Regelung einer Positionierachse wird typischerweise als Kaskadenstruktur ausgeführt. Die innere
Regelschleife dient der Kraft- oder Drehmomentregelung. Diese wird umfasst vom Drehzahlregelkreis.
Dieser wiederum wird von einem Lageregelkreis eingeschlossen.
Motor 𝑀𝑀 𝑛𝑖𝑠𝑡 𝜑𝑖𝑠𝑡

𝜑𝑠𝑜𝑙𝑙 𝑛𝑠𝑜𝑙𝑙 Servo- 𝑖𝑖𝑠𝑡 Trägheit
Lageregler
verstärker der Last
𝑖𝑀𝑒𝑠𝑠
𝜑𝑀𝑒𝑠𝑠 𝑛𝑀𝑒𝑠𝑠 Drehzahl-
geber
Lagegeber
Der Motor wird von einem Servoverstärker gespeist. Der momentenbildende Strom 𝑖𝑖𝑠𝑡 wird gemessen
und als gemessener Istwert 𝑖𝑀𝑒𝑠𝑠 in den Stromregler der Verstärkers zurückgeführt. Die Drehzahl 𝑛𝑖𝑠𝑡
wird bspw. mit einer Tachomaschine erfasst und auch als gemessener Istwert 𝑛𝑀𝑒𝑠𝑠 des
Drehzahlregelkreises zurückgeführt. Der Drehzahlsollwert 𝑛𝑠𝑜𝑙𝑙 wird vom Lageregler gebildet, indem
der Istwert 𝜑𝑖𝑠𝑡 mittels einer Lagegebers 𝜑𝑀𝑒𝑠𝑠 mit dem Sollwert 𝜑𝑠𝑜𝑙𝑙 verglichen wird.
Dr.-Ing. Matthäus Brela | Electrical Engineering and Computer Science 16.06.2023 3

Part 1
mechanische Seite der Positionierachse

Um mit Hilfe einer Servoachse eine vorgeschriebene Bahnkurve exakt abfahren zu können, müssen die
kinematischen Beschreibungsgrößen (Weg s, Geschwindigkeit v und Beschleunigung a bzw. Winkel φ,
Winkelgeschwindigkeit ω und Winkelbeschleunigung α) mit einem vorgegebenen Sollwertverlauf
möglichst exakt zur Übereinstimmung gebracht werden. Dabei gelten folgende kinematischen
Zusammenhänge:
𝑑𝑠 𝑑𝑣 𝑑²𝑠 𝑑𝜑 𝑑𝜔 𝑑²𝜑
𝑣= 𝑎= = bzw. 𝜔= 𝛼= =
𝑑𝑡 𝑑𝑡 𝑑𝑡² 𝑑𝑡 𝑑𝑡 𝑑𝑡²
Als Stellgröße zur Beeinflussung der Bewegungsvorgänge dienen die Beschleunigungskräfte (bei
Linearantrieben) bzw. das Beschleunigungsmoment (bei rotatorischen Antrieben). Das
Beschleunigungsmoment muss zumindest das Trägheitsmoment der bewegten Massen überwinden.
𝑑𝜔 𝑑𝑛
𝐹𝐴𝑐𝑐 = 𝐹𝑀𝑜𝑡 − 𝐹𝐿𝑎𝑠𝑡 = 𝑚𝑎 𝑀𝐴𝑐𝑐 = 𝑀𝑀𝑜𝑡 − 𝑀𝐿𝑎𝑠𝑡 = 𝐽𝛼 = 𝐽 = 2𝜋𝐽
𝑑𝑡 𝑑𝑡
Für die dynamische Struktur einer Positionierachse gilt demnach folgendes Übertragungsverhalten.
1 1
𝐹𝑀𝑜𝑡 𝑚 𝑎 𝑣 𝑠 𝑀𝑀𝑜𝑡 𝐽 𝛼 𝜔 𝜑
− −
𝐹𝐿𝑎𝑠𝑡 𝑀𝐿𝑎𝑠𝑡

Part 1
Electric motor governing equations
Introduction
DC Motor construction and working principle
Stator The DC motor is the motor which converts the direct current
(permanent magnet)
into the mechanical work. It works on the principle of Lorentz
Law, which states that “the current carrying conductor placed in
Rotor
(rotating electromagnet) a magnetic and electric field experience a force”, which is called
the Lorentz force.
Winding
(electromagnets) The brushed DC electric motor generates torque directly from
DC power supplied to the motor by using internal commutation,
Commutator stationary magnets and rotating electromagnets.
(rotary electrical switch)
Brushes Due to permanent magnets in the stator, the torque of the

(voltage supply) motor is proportional to the current. The speed is essentially
determined by the applied terminal voltage.

Part 1
Electrical domain
DC Motor electric circuit
𝑅𝑎 𝐿𝑎
Stator
=
(permanent magnet)
Rotor
(rotating electromagnet)
𝑉𝑎 𝑡 𝐸𝐸𝑀𝐹
Winding
(electromagnets)
Commutator Kirchhoff's law:

𝒅𝑰𝒂(𝒕)
Brushes 𝑽𝒂 𝒕 = 𝑹𝒂𝑰𝒂 𝒕 + 𝑳𝒂 + 𝑬𝑬𝑴𝑭
(voltage supply) 𝒅𝒕
𝑉𝑎 = armature voltage (V)
𝑅𝑎 = armature resistance (Ω)
𝐿𝑎 = armature inductance (H)
𝐼𝑎 = armature current (A)
𝐸𝐸𝑀𝐹 = counter electromotive force (V)

Part 1
Mechanical domain
DC Motor free body diagram
𝑅𝑎 𝐿𝑎
Stator 𝑴
=
(permanent magnet)
Rotor
(rotating electromagnet)
𝑉𝑎 𝑡
Winding
(electromagnets)
Commutator Newton's Second law of motion:

𝒅𝟐Ѳ(𝒕) 𝒅Ѳ(𝒕)
Brushes 𝑴𝒎 𝒕 = 𝑴𝑳 𝒕 + 𝑱𝒎 + 𝒃
(voltage supply)
𝒅𝒕𝟐 𝒅𝒕
𝑑Ѳ(𝑡) 𝑀𝑚 = motor torque (Nm)
=ɷ 𝑀𝐿 = load torque (Nm)
𝑑𝑡 𝐽𝑚 = motor inertia (kgm 2)
𝑏 = viscous friction (damping) (Nmsec)
Ѳ = angular position of rotor shaft (rad)
ɷ = angular speed (rad/sec)
Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 7

Part 1
Electromechanical governing equations

System parameters and variables
System parameters System Variables

fixed characteristics of materials used and motor changing in time characteristics of electrical circuit,
construction mechanical motion and external factors
B = Stator permanent magnetic field strength (T) V = applied voltage (V)
r = Rotor radius (m) IA = armature current (A)
N, l = Rotor winding density (wire turns), its length T = temperature (0C)
Above parameters define resistance, inductance, etc. i.e., above variables define speed and torque
𝑲𝑴 Torque is proportional to Current:
𝑀𝑚 = 𝑁𝑟𝑙𝐵𝑖𝐴 = 𝑖𝐴𝐾𝑀 , (𝐾𝑀 𝑖𝑛 [𝑁𝑚/𝐴])

⇒ 𝑲𝑴 = 𝑲𝑬 = 𝑲
𝑲𝑬 Speed is proportional to Voltage:
𝐸 = ∫ 𝐸𝑑𝑠⃗ = − ∫ 𝑉𝐿 × 𝐵𝑑𝑠⃗
𝐸𝐸𝑀𝐹 = 𝑁2π𝑟𝑙𝐵𝑓 = 𝑁𝑟𝑙𝐵ɷ = 𝐾𝐸ɷ, (𝐾𝐸 𝑖𝑛 [𝑉/(𝑟𝑎𝑑/𝑠)])

Part 1

Binding electrical and mechanical domains
Electrical domain
𝑑𝐼𝑎(𝑡) 𝑑ɷ(𝑡)
𝑉𝑎 𝑡 = 𝑅𝑎𝐼𝑎 𝑡 + 𝐿𝑎 + 𝐸𝐸𝑀𝐹 𝐼𝑎 𝑡 𝐾 = 𝑀𝐿 𝑡 + 𝐽𝑚 + 𝑏ɷ(𝑡)
𝑑𝑡 𝑑𝑡
⇒ 𝑑𝐼𝑎(𝑡)
Mechanical domain
𝑉𝑎 𝑡 = 𝑅𝑎𝐼𝑎 𝑡 + 𝐿𝑎 +ɷ 𝑡 𝐾
𝑑2Ѳ(𝑡) 𝑑Ѳ(𝑡) 𝑑𝑡
𝑀𝑚 𝑡 = 𝑀𝐿 𝑡 + 𝐽𝑚 + 𝑏 𝑉𝑎 = armature voltage (V)
𝑑𝑡2 𝑑𝑡 𝑅𝑎 = armature resistance (Ω)
𝑑Ѳ(𝑡) 𝐿𝑎 = armature inductance (H)
= ɷ (𝑡) 𝐼𝑎 = armature current (A)
𝑑𝑡 𝐸𝐸𝑀𝐹 = counter electromotive force (V)
𝑀𝑚 = motor torque (Nm)
Binding equations: 𝑀𝐿 = load torque (Nm)
𝐽𝑚 = motor inertia (kgm 2)
𝐸𝐸𝑀𝐹 𝑡 = ɷ 𝑡 𝐾 𝑏 = viscous friction (damping) (Nmsec)
Ѳ = angular position of rotor shaft (rad)
ɷ = angular speed (rad/sec)
𝑀𝑚 𝑡 = 𝐼𝑎 𝑡 𝐾

Part 2
Open loop motion models
Time domain simulation

Non-linear block diagram of the DC motor
𝑉𝑎 𝑡 𝑑𝐼𝑎 (𝑡) 𝐼𝑎 𝑡 𝑀𝑚 𝑡 𝑑ɷ(𝑡) ɷ 𝑡 Ѳ 𝑡

+ 𝑅 𝑎 𝐼𝑎 𝑡 + 𝐿 𝑎 𝐾 + 𝐽𝑚 + 𝑏ɷ(𝑡) ɷ
- 𝑑𝑡 - 𝑑𝑡
𝑀𝐿
𝐸𝐸𝑀𝐹
ɷ 𝑡
𝐾
𝑑𝐼𝑎 (𝑡) 𝑑ɷ(𝑡)

𝑉𝑎 𝑡 = 𝑅𝑎𝐼𝑎 𝑡 + 𝐿𝑎 +ɷ 𝑡 𝐾 𝐼𝑎 𝑡 𝐾 = 𝑀𝐿 𝑡 + 𝐽𝑚 + 𝑏ɷ(𝑡) Ѳ(𝑡) = ɷ 𝑡 𝑑𝑡
𝑑𝑡 𝑑𝑡
The nonlinear model results in a one-input, one-output map, having a disturbance input 𝑀𝐿 and with two state variables,
related to:
• the energy stored in the inductance 𝐿𝑎
• the kinetic energy of the rotor (related to 𝐽𝑚)

Part 2
Time domain simulation

Simulink model of the DC motor
𝑑𝐼𝑎 (𝑡)
𝑉𝑎 𝑡 = 𝑅𝑎𝐼𝑎 𝑡 + 𝐿𝑎 +ɷ 𝑡 𝐾
𝑑𝑡
Ѳ(𝑡) = ɷ 𝑡 𝑑𝑡
𝑑ɷ(𝑡)
𝐼𝑎 𝑡 𝐾 = 𝑀𝐿 𝑡 + 𝐽𝑚 + 𝑏ɷ(𝑡)
𝑑𝑡

Part 1

Laplace domain - transformation and transfer function
The Laplace transform converts integral and differential equations into algebraic equations like phasors, applies to:
• general signals, not just sinusoids
• handles non-steady-state conditions
The Laplace transform allows us to analyze:

• LCCODEs (Linear Constant Coefficient Ordinary Differential Equations)
• complicated circuits with sources, Ls, Rs, and Cs
• complicated systems with integrators, differentiators, gains
Differentiation
if signal f is continuous at t = 0, then a > 0; then ℒ(𝑓̇
(𝑡)) = 𝑠𝐹(𝑠)
• time-domain differentiation becomes multiplication by frequency variable s (as with phasors)
• plus a term that includes initial condition (i.e., −f(0))
Higher-order derivatives: applying derivative formula twice yields: ℒ(𝑓̈(𝑡)) = 𝑠2𝐹(𝑠)

Part 1

Time domain Laplace transformation
𝑑ɷ(𝑡)
𝐼𝑎 𝑡 𝐾 = 𝑀𝐿 𝑡 + 𝐽𝑚 + 𝑏ɷ(𝑡) 𝐼𝑎 𝑠 𝐾 = 𝑀𝐿 𝑠 + 𝑠𝐽𝑚ɷ(𝑠) + 𝑏ɷ(𝑠)
𝑑𝑡
𝑑𝐼𝑎(𝑡)
⇒
𝑉𝑎 𝑡 = 𝑅𝑎𝐼𝑎 𝑡 + 𝐿𝑎 +ɷ 𝑡 𝐾 𝑉𝑎 𝑠 = 𝑅𝑎𝐼𝑎 𝑠 + 𝑠𝐿𝑎𝐼𝑎 𝑠 + ɷ 𝑠 𝐾
𝑑𝑡
𝐼𝑎 𝑠 𝐾 = 𝑀𝐿 𝑠 + 𝑠2𝐽𝑚Ѳ(𝑠) + 𝑠𝑏Ѳ(𝑠)
𝑑Ѳ(𝑡)
= ɷ (𝑡) ⇒
𝑑𝑡 𝑉𝑎 𝑠 = 𝑅𝑎𝐼𝑎 𝑠 + 𝑠𝐿𝑎𝐼𝑎 𝑠 + 𝑠Ѳ 𝑠 𝐾
Where 𝑠 denotes the Laplace operator

Part 1

Laplace transformation
𝐼𝑎 𝑠 𝐾 = 𝑀𝐿 𝑠 + 𝑠2𝐽𝑚Ѳ(𝑠) + 𝑠𝑏Ѳ(𝑠) 𝑉𝑎 𝑠 − 𝑠Ѳ 𝑠 𝐾
𝐼𝑎 𝑠 =
𝑉𝑎 𝑠 = 𝑅𝑎𝐼𝑎 𝑠 + 𝑠𝐿𝑎𝐼𝑎 𝑠 + 𝑠Ѳ 𝑠 𝐾 𝑅𝑎 + 𝑠𝐿𝑎
𝑽𝒂 𝒔 − 𝒔Ѳ 𝒔 𝑲
⇒ 𝒔𝟐𝑱𝒎Ѳ 𝒔 + 𝒔𝒃Ѳ 𝒔 + 𝑴𝑳 𝒔 = 𝑲
𝑹𝒂 + 𝒔𝑳𝒂
Transfer functions
From equation above, the transfer function from the input And transfer function from the input voltage, V(s), to the
voltage, V(s), to the output angle, θ, directly follows: angular velocity, ω is:
Ѳ 𝑠 𝐾 𝑟𝑎𝑑 ɷ 𝑠 𝐾 𝑟𝑎𝑑/𝑠𝑒𝑐
𝐺𝑎 𝑠 = = , [ ] 𝐺ɷ 𝑠 = = , [ ]
𝑉𝑎 𝑠 𝑠[ 𝑅𝑎 + 𝑠𝐿𝑎 𝑠𝐽𝑚 + 𝑏 + 𝐾2] 𝑉 𝑉𝑎 𝑠 𝑅𝑎 + 𝑠𝐿𝑎 𝑠𝐽𝑚 + 𝑏 + 𝐾2 𝑉
From torque equation:

𝑁𝑚
𝑀𝑚 𝑡 = 𝐼𝑎 𝑡 𝐾 ⇒ 𝐺𝑇 𝑠 = 𝐾, [ 𝐴 ]

Part 1

Laplace domain – time and mechanical constants
Time constant of armature circuit Mechanical constant of motor

𝑉𝑎 𝑠 − 𝑉𝐸𝑀𝐹 𝑠 = 𝐼𝑎(𝑠)[𝑅𝑎 + 𝑠𝐿a] 𝑀𝑚 𝑠 − 𝑀𝐿 𝑠 = ɷ(𝑠)[𝑏 + 𝑠𝐽]
𝑉𝑎 𝑠 − 𝑉𝐸𝑀𝐹 𝑠 𝑀𝑚 𝑠 − 𝑀𝐿 𝑠
𝐼𝑎 𝑠 = ɷ 𝑠 =
𝑅𝑎 + 𝑠𝐿𝑎 𝑏 + 𝑠𝐽
𝑉𝑎 𝑠 − 𝑉𝐸𝑀𝐹 𝑠 𝑀𝑚 𝑠 − 𝑀𝐿 𝑠
𝐿 𝐽
𝑅𝑎 (1 + 𝑠 𝑅𝑎 ) 𝑏(1 + 𝑠 )
𝑎 𝑏
𝐿𝑎 𝐽
𝜏𝑎 = 𝜏𝑚 =
𝑅𝑎 𝑏
𝑉𝑎 𝑠 − 𝐾ɷ 𝑠 𝑎 𝐾𝐼 𝑠 − 𝑀 𝑠
𝐿
⇒ 𝐼𝑎 𝑠 =
𝑅𝑎(1 + 𝑠𝜏𝑎)
⇒ ɷ 𝑠 = 𝑏(1 + 𝑠𝜏𝑚)

Part 2
Laplace domain simulation

Linear block diagram of the DC motor
𝑉𝑎 𝑠 1 𝐼𝑎 𝑠 𝑀𝑚 𝑠 1 ɷ 𝑠 1 Ѳ 𝑠
+ 𝐾𝑎 𝐾 + 𝐾𝑚
- 1 + 𝑠𝜏𝑎 - 1 + 𝑠𝜏𝑚 𝑠
𝑇𝐿
𝐸𝐸𝑀𝐹
ɷ 𝑠
𝐾
𝑉𝑎 𝑠 − 𝐾ɷ 𝑠 𝐾𝐼𝑎 𝑠 − 𝑀𝐿 𝑠 ɷ 𝑠
= 𝐼𝑎 𝑠 =ɷ 𝑠 = Ѳ(𝑠)
𝑅𝑎 (1 + 𝑠𝜏𝑎 ) 𝑏(1 + 𝑠𝜏𝑚) 𝑠
1 𝐿𝑎 1 𝐽
𝐾𝑎 = 𝜏𝑎 = 𝐾𝑚 = ; 𝜏𝑚 = = 𝐾 𝑚𝐽
𝑅𝑎 ; 𝑅𝑎 𝑏 𝑏

Part 2
Laplace domain simulation

Simulink model of the DC motor
𝑉𝑎 𝑠 − 𝐾ɷ 𝑠 𝐾𝐼𝑎 𝑠 − 𝑇𝐿 𝑠
𝑅𝑎(1 + 𝑠𝜏𝑎) 𝑏(1 + 𝑠𝜏𝑚)

Part 2
SimApp
Model of the DC motor
The Laplace transformed equations of a DC motor are: Coefficients, forming parameters:
𝑅𝑎 = armature resistance (Ω)
𝑳𝒂 = armature inductance (H)
𝐸𝐸𝑀𝐹 = counter electromotive force (V)
𝑱𝒎 = motor inertia (kgm2)
𝑱𝒍𝒐𝒂𝒅 = load inertia (kgm2)
𝒃 = viscous friction (damping) (Nmsec)
The equations describe the function of the new block.

It has three nodes:
 Inputs Armature voltage UA
 Input load torque ML as disturbance
 Output r.p.m

Part 2
SimApp

Part 2
SimApp
Summary
You have learned the necessary basic steps for creating custom blocks. As an overview, we will enumerate all steps:
1. Open a new block folder.
2. Define new parameters in the parameter table.
3. Draw the block diagram of the system you want to put in the block.
4. Enter the formulas for the parameters of the system blocks.
5. Test the inner structure.
6. Denote the input and outputs by connecting them with node objects.
7. Design the block symbol and move the nodes on the block frame.
8. Join the system and the symbol by exporting the block into the Windows clipboard.
9. Paste the block into a drawing.
10. Store the block into a library or into the palette.

Part 2
Gleichungen im stationären Zustand (dn/dt =0) Zusammenhang Drehzahl und Drehmoment

Ankerkreis (Maschengleichung) Ankerstrom
𝑈𝐴 = 𝑅𝐴 𝐼𝐴 + 𝑈𝑖𝑛𝑑,𝑀 𝐼𝐴 = 𝑀𝑀𝑜𝑡 /𝐾𝑀
Induzierte Spannung Ankerkreis (Maschengleichung)
𝑈𝑖𝑛𝑑,𝑀 = 𝑛/𝐾𝑛 𝑈𝐴 = 𝑅𝐴 𝑀𝑀𝑜𝑡 /𝐾𝑀 + 𝑛/𝐾𝑛
Motordrehmoment (Luftspaltmoment) Zusammenhang Drehzahl / Drehmoment

𝑀𝑀𝑜𝑡 = 𝑲𝑴 𝐼𝐴 𝑅𝐴 𝑀𝑀𝑜𝑡 ∆𝑛
𝑛 = 𝑈𝐴 𝐾𝑛 − = 𝑈𝐴 𝐾𝑛 − 𝑀𝑀𝑜𝑡
Bewegungsgleichung 𝐾𝑀 𝐾𝑛 ∆𝑀
𝑀𝑀𝑜𝑡 = 𝑀𝐿 Leerlaufdrehzahl
𝑛0 = 𝑈𝐴 𝐾𝑛
Unter der Annahme, dass eine konstante Spannung an den Motorklemmen anliegt, ist die
Motorgeschwindigkeit direkt proportional zur Summe aus Reibungsmoment und Lastmoment
(Haltemoment 𝑀𝐻 ). ∆𝑛 𝑅𝐴 𝑛0
= =
∆𝑀 𝐾𝑀 𝐾𝑛 𝑀𝐻
DC-Messung von 𝐾𝑛 : Die Motorspannungskonstante wird im Leerlauf bestimmt. Dabei wird die
Versorgungsspannung 𝑈𝑖𝑛𝑑,𝑀 gemessen und in das Verhältnis zur Leerlaufdrehzahl 𝑛 gesetzt.

Part 3
Controllers design and performance analysis
Time domain parameters

DC motor control parameters
Transient parameters:
Transient Steady state
• Rise time (Tr)
Lower values make system response faster,
Mp so lower values preferred
ess
• Maximum overshoot (Mp)
Lower value makes system more stable,
so lower value preferred
• Settling time (Ts)
Output settles faster to final values if it has lower value,
so lower value preferred
Steady state parameter:
• Steady state error (ess)
Output reaches required value if steady state error is
Ts zero, so zero value required
Tr

Part 3
Block diagram of control loop

DC motor response modifier types
Basic modes:
Types of controllers
• Proportional (P) 𝑅 𝑠 𝐸𝑖 𝑠 𝐸0 𝑠 𝐶 𝑠
• Integral (I) 𝐼𝑛𝑝𝑢𝑡 + 𝐺𝑐(𝑠) 𝐺(𝑠) 𝑂𝑢𝑡𝑝𝑢𝑡
-
• Derivative (D)
Combination modes: 𝑪𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒆𝒓 𝑀𝑜𝑡𝑜𝑟
• Proportional + Integral (PI)
• Proportional + Derivative (PD) 𝐻 𝑠 =1
• Proportional + Integral + Derivative (PID) 𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑔𝑎𝑖𝑛
Controllers are:
• used to achieve desired response (output) by changing control parameters
• system response modifiers
• feeding forward the main transfer function (motor)

Part 3
Basic modes: Proportional Controller (P)

• Proportional (P) controller is an amplifier (constant)
• Response of the system becomes faster
• Maximum overshoot value increases proportionally Mp
• Large value of Kp makes system unstable ess
• Doesn’t handle steady state error
• Adds offset error
Time domain:
Tr
𝑒0 𝑡 = 𝐾𝑝𝑒𝑖 𝑡
Laplace domain: Ts
𝐸0 𝑠
𝐺𝑐 𝑠 = = 𝐾𝑝
𝐸𝑖 𝑠

Part 3
Basic modes: Integral Controller (I)

• With I-controller offset error of P-controller can be removed
• Steady state error can be eliminated as well ess
• Response of the system becomes slower Mp
• Maximum overshoot value increases
Time domain:
𝑡 Tr
𝑒0 𝑡 = 𝐾𝑖 ∫ 𝑒𝑖 𝑡 𝑑𝑡
0
Laplace domain: Ts
𝐸0 𝑠 𝐾𝑖
𝐺𝑐 𝑠 = =
𝐸𝑖 𝑠 𝑠

Part 3
Basic modes: Derivative Controller (D)

• Never used alone, as if error is constant – output is zero
• Produce fast action when input changes rapidly
• Impulse behavior at the step changes
• Impulsive output can cause sudden step of actuator and cause the breakdown of the component of the system
Amplitude
Time domain:
𝑑
𝑒0 𝑡 = 𝐾𝑑 𝑒 𝑡 Error (eset – e(t))
𝑑𝑡 𝑖
Laplace domain:
𝐸0 𝑠 D-control action
𝐺𝑐 𝑠 = = 𝑠𝐾d
𝐸𝑖 𝑠 Time

Part 3
Combination modes: Proportional + Integral (PI) Controller

• Kp is a proportional (P) gain
• Ti is integral time, 1/Ti is known as reset rate
• P-controller ensures faster response Mp ess
• I-controller converts steady state error to zero
Time domain:
𝑡
𝐾𝑝
𝑒0 𝑡 = 𝐾𝑝𝑒𝑖 𝑡 + 𝑒𝑖 𝑡 𝑑𝑡 Tr
𝑇𝑖 0
Laplace domain:
𝐸0 𝑠 1
𝐺𝑐 𝑠 = = 𝐾𝑝(1 + )
𝐸𝑖 𝑠 𝑠𝑇𝑖

Part 3
Combination modes: Proportional + Derivative (PD) Controller

• Td is derivative time
• P-controller ensures faster response
ess
• Doesn’t handle steady state error
• Adds offset error Mp
Time domain:
𝑑 Tr
𝑒0 𝑡 = 𝐾𝑝𝑒𝑖 𝑡 + 𝐾𝑝𝑇𝑑 𝑒 𝑡
𝑑𝑡 𝑖
Laplace domain:
𝐸0 𝑠
𝐺𝑐 𝑠 = = 𝐾𝑝(1 + 𝑠𝑇𝑑 )
𝐸𝑖 𝑠

Part 3
Combination modes: Proportional + Integral + Derivative (PID) Controller

• Td is derivative time
• Ti is integral time, 1/Ti is known as reset rate Mp ess
• P- and D-controller actions ensure faster response
• I-controller converts steady state error to zero
Time domain:
𝑡
𝑑 𝐾𝑝 Tr
𝑒0 𝑡 = 𝐾𝑝𝑒𝑖 𝑡 + 𝐾𝑝𝑇𝑑 𝑒𝑖 𝑡 + 𝑒𝑖 𝑡 𝑑𝑡
𝑑𝑡 𝑇𝑖 0
Laplace domain:
𝐸0 𝑠 1
𝐺𝑐 𝑠 = = 𝐾𝑝(1 + 𝑠𝑇𝑑 + )
𝐸𝑖 𝑠 𝑇𝑖

Part 3
Control systems with delay

DC motor control parameters
All controlled systems with proportional properties
are systems with compensation.
There is practically no such thing as a pure
proportional controller.
Their behavior is idealized and always applies when

the time delay is very small and practically
impossible to measure.
Most proportional controllers strive to compensate

with different delays.

Part 3
P-T0 system control

• A low-delay process occurs when the controlled variable follows
the manipulated variable without a measurable time delay and
reaches its state of equilibrium almost in immediate step.
• It is called the zero-order controller and is denoted by the
symbols P0, P-T0, or P-T0.
• If one examines the static behavior and presents the measurement results
as X = f(Y), a straight line is created from the slope of which the
transmission coefficient KS of the section can be read. The graphical
representation of the dynamic behavior of the controlled variable as a
function of time X = f(t) shows a step function that is proportional to the
input step function.
• The transfer coefficient, also referred to as the proportional coefficient for P
systems, is always determined for the stationary or steady state.
• It indicates how the controlled variable and manipulated variable change
together. The KS value is sometimes referred to as the system gain even if
it is less than 1.

Part 3
P-T1..n systems
• Most P-controllers have one or more storage elements that
assume their final state at different times, so that the final
steady state is reached with a delay.
Examples:
• A closed compressed air storage vessel does not immediately reach its end pressure (x) inside after a sudden
change in the inlet pressure (y).
• The speed of an electric motor only changes with a delay to the new final value (x) in the event of sudden load
changes or a voltage change (y), since the inertia of the armature mass and the induction effects of the armature
winding and/or the field winding have to be compensated for beforehand.
• With electric heating, the heating element must first heat up, followed by the transmission medium and the
radiator, before energy can be released into the room. Until the constant final temperature is reached, the
different heat gradients of the room boundaries and the facilities still have to be compensated.
The easiest way to determine the dynamic behavior of these systems is to record the step response. If the controlled
variable reaches its final value with a delay after an e-function, then the process only has one effective memory. It is a
first-order P-controller, written as P-T1. The step response of a proportional system with two or more different storage
elements has an inflection point and is referred to as a P-T2 or P-Tn system.

Part 3
P-T1 system
• An RC circuit has a storage element with the capacitor and was
used for the following graphic as a system simulation.
• The course of the unit step function of this P-T1 segment is
shown.
• It has a hibernating state with y = 0 for t < 0. The input variable
jumps to the value 1 for t ≥ 0.
• The controlled variable x reaches its compensation value KS
with the transfer function h(t).
• The time constant TS indicates how quickly the final value of an
exponential controlled variable could be reached if the initial
gradient at point t = 0 remained.

Part 3
P-T2 system
• To simulate a second-order P-system, an RL- and RC- low-pass filter were connected in series and
dimensioned in such a way that the circuit in the analyzed area does not oscillate.
• Also conceivable is the non-oscillatable series connection of two RC low-pass filters with different time
constants.
• The graphic shows the step response of a system with two storage elements for the unit step.
• It is described by three parameters, the transmission coefficient KS, a delay time Tu and a compensation time Tg

Part 3
P-Tn system
• In the case of P-Tn system, the system of higher order, Tu becomes increasingly larger and the path becomes
more difficult to control.
• From the step response it can be seen that the system only reacts very weakly to a change in the control value
y during the delay time.
• The time ratio Tg / Tu provides information on the controllability of a route or, inversely, on the degree of difficulty
S to control it. The table shows some reference values.
A P-Tn system can be better controlled the larger Tg is compared to Tu.

Part 3
P-Tn system
• Start-up time and start-up value are two
dynamic characteristic values of controlled
systems, which are determined assuming
that the rate of change of the controlled
variable x remains constant until the
setpoint w is reached.
• The start-up value A is the proportion of the
maximum rate of change of the controlled
variable when the control range is fully
utilized.
• In the area of the start-up time TA, the step
function runs linearly with maximum
gradient.
• The start-up time is therefore the time that elapses when the control range Yh is fully utilized until the controlled
variable x has reached the desired setpoint w.

Part 3
P-Tn system
• Start-up time and start-up value are two
dynamic characteristic values of controlled
systems, which are determined assuming
that the rate of change of the controlled
variable x remains constant until the
setpoint w is reached.
• The start-up value A is the proportion of the
maximum rate of change of the controlled
variable when the control range is fully
utilized.
• In the area of the start-up time TA, the step
function runs linearly with maximum
gradient.
• The start-up time is therefore the time that elapses when the control range Yh is fully utilized until the controlled
variable x has reached the desired setpoint w.
• The complexity factor S of the system can also be defined with the delay time and the start-up time or the start-up
value: S = Tu / TA or S = Tu / (A · Δxw). The estimates for S are as found in the table above.

Part 3
P-Tt system
• Conveyor belt sections or pipelines where the measuring point is relatively far away from the location have a
dead time.
• The control circuit can only react to a change in the manipulated variable and/or disturbance variable when the
information has arrived at the measuring point.
• The dead time results from the route length and the transport speed along the route. Tracks with dead time are very
difficult to control.
• A very long delay time Tu of a P-Tn controller corresponds more or less to a dead time in its first two thirds. Simple
dead-time sections have two characteristic values - KS and Tt.

Part 3
Proportional + Integral + Derivative (PID) Controller

Block diagram
The total loop transfer function:
𝐺𝑐(𝑠) 𝐶 𝑠 𝐺𝐶 𝑠 𝐺(𝑠)
𝐻 𝑠 = =
𝑷 𝑲𝒑 𝑅 𝑠 1 + 𝐺𝐶 𝑠 𝐺(𝑠)
𝑅 𝑠 𝐸𝑖 𝑠 𝑰 𝑲𝒑 + 𝐸0 𝑠 𝐶 𝑠
𝐼𝑛𝑝𝑢𝑡 + + 𝐺(𝑠) 𝑂𝑢𝑡𝑝𝑢𝑡
- 𝑻𝒊𝒔 +
𝑫 𝑀𝑜𝑡𝑜𝑟
𝑲𝒑𝑻𝒅𝒔
𝑪𝒐𝒏𝒕𝒓𝒐𝒍𝒍𝒆𝒓
𝐻 𝑠 =1

Zur Vertiefung der Inhalte dieser Präsentation
abschließendes Literaturverzeichnis:
1. Essential MATLAB for Engineers and Scientists,

Brian H. Hahn and Daniel T. Valentine
2. MATLAB The Language of Technical Computing

Matworks
3. Matlab: A Practical Introduction to Programming and Problem

Solving
Stormy Attaway
4. Simulation of Dynamic Systems with MATLAB® and Simulink®

Randal Allen, Harold Klee
5. Engineering Optimization: Theory and Practice

Singiresu S. Rao
6. etc.
Go to the library and take what you like!

…they are all about the same… Quelle: GeoCaching

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Dr.

Anton Glotov Mathematische Anwendungssoftware

2 Open loop motion models:

Dr. Anton Glotov | Electrical Engineering and Computer Science 16.06.2023 2

Aufbau einer Positionierachse

Motor 𝑀𝑀 𝑛𝑖𝑠𝑡 𝜑𝑖𝑠𝑡

Dr.-Ing. Matthäus Brela | Electrical Engineering and Computer Science 16.06.2023 3

mechanische Seite der Positionierachse

Dr.-Ing. Matthäus Brela | Electrical Engineering and Computer Science 16.06.2023 4

Brushes Due to permanent magnets in the stator, the torque of the

Dr. Anton Glotov | Electrical Engineering and Computer Science 16.06.2023 5

Commutator Kirchhoff's law:

Dr. Anton Glotov | Electrical Engineering and Computer Science 16.06.2023 6

Commutator Newton's Second law of motion:

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 7

Electromechanical governing equations

System parameters System Variables

𝑲𝑴 Torque is proportional to Current:

𝑀𝑚 = 𝑁𝑟𝑙𝐵𝑖𝐴 = 𝑖𝐴𝐾𝑀 , (𝐾𝑀 𝑖𝑛 [𝑁𝑚/𝐴])

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 8

Electromechanical governing equations

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 9

Time domain simulation

𝑉𝑎 𝑡 𝑑𝐼𝑎 (𝑡) 𝐼𝑎 𝑡 𝑀𝑚 𝑡 𝑑ɷ(𝑡) ɷ 𝑡 Ѳ 𝑡

𝑑𝐼𝑎 (𝑡) 𝑑ɷ(𝑡)

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 10

Time domain simulation

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 11

Electromechanical governing equations

The Laplace transform allows us to analyze:

Higher-order derivatives: applying derivative formula twice yields: ℒ(𝑓̈(𝑡)) = 𝑠2𝐹(𝑠)

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 12

Electromechanical governing equations

Time domain Laplace transformation

Where 𝑠 denotes the Laplace operator

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 13

Electromechanical governing equations

From torque equation:

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 14

Electromechanical governing equations

Time constant of armature circuit Mechanical constant of motor

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 15

Laplace domain simulation

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 16

Laplace domain simulation

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 17

The equations describe the function of the new block.

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 18

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 20

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 21

Gleichungen im stationären Zustand (dn/dt =0) Zusammenhang Drehzahl und Drehmoment

Motordrehmoment (Luftspaltmoment) Zusammenhang Drehzahl / Drehmoment

Dr.-Ing. Matthäus Brela | Electrical Engineering and Computer Science 16.06.2023 22

Time domain parameters

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 24

Block diagram of control loop

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 25

Basic modes: Proportional Controller (P)

Dr. Anton Glotov | Electrical Engineering and Computer Science 16-Jun-23 26