Control Lab1

THE UNIVERSITY OF THE WEST INDIES
ST. AUGUSTINE, TRINIDAD & TOBAGO, WEST INDIES

FACULTY OF ENGINEERING
Department of Electrical & Computer Engineering
ECNG 2005
LABORATORY & PROJECT DESIGN III
Lab # 1: DC Motor Static and Dynamic

Characteristics

Lab#1: Modeling the DC Motor from First Principles
Contents
1.
General Information ................................................................................................................ 3
2.
Lab Learning Outcomes .......................................................................................................... 4
3.
Pre-Lab .................................................................................................................................... 4
4.
3.1.
Required Reading Resources .......................................................................................... 4
3.2.
Other Resources .............................................................................................................. 5
3.3.
Pre-Lab Exercise............................................................................................................. 5
In-Lab .................................................................................................................................... 25
4.1.
In-Lab Procedure .......................................................................................................... 25
List of Figures
Figure 3.1: DC Motor operation and construction........................................................................ 7
Figure 3.2: The Motor and Inertial Load Simplified Block Diagram............................................. 9
Figure 3.3: Magnetically Induced Force on a DC Motor Armature .............................................11
Figure 3.4: DC Motor Electric Circuit.......................................................................................... 12
Figure 3.5: Simplified Open Loop Block Diagram of the DC Motor........................................... 20
Figure 4.1: DCMCT Trainer Module and Schematic (Quanser) ..................................................26
Figure 4.2: Modeling Module of the QICii Software .................................................................. 28
Figure 4.3: Locating the Push-Button and the LEDs....................................................................32
Figure 4.4: Step Response Test Input and Output.........................................................................45
List of Tables
Table 3.1: Open-Loop System Nomenclature ............................................................................... 8
Table 3.2: Modeling Pre-Laboratory Assignment Results .......................................................... 22
Table 4.1: QICii Modelling Module Nomenclature..................................................................... 29
Table 4.2: Default Parameters for the Modelling Module............................................................ 32
Table 4.3: Motor Resistance Experimental Results...................................................................... 37
Table 4.4: Back-EMF Constant Experimental Results ................................................................ 41
Table 4.5: Module Parameters for the Step Response Test ......................................................... 46
Table 4.6: Results Summary Table............................................................................................... 52
Table 4.7: DCMCT Model Parameter Specifications................................................................... 54
Table 4.8: DCMCT Sensor Parameter Specifications................................................................ ..56
1

List of Equations
Equation 4.1: kt = km .10
Equation 4.2: Gw, v =
b
....17
s+a
k
...18
s + 1
Equation 4.4: Gw,T =
KTd
18
Td s + 1
Equation 5.1: ws ( s) =
KVm ( s )
..30
s + 1
Equation 5.2: h=0.01s ..30

Equation 5.3: wm =
s m
..30
Tf s + 1

Equation 5.5 K =
k
..45
s + 1
y
...46
u
Equation 5.6: Gw, v ( s ) =
Equation 5.7: ws ( s ) =
km
.51
km
(Lm s + Rm )
J eq +
R
m
1
..51
km (s + 1)( e s + 1)

ECNG 2005
LABORATORY & PROJECT DESIGN III
http://myelearning.sta.uwi.edu/
Semester II 2008 / 2009
1. GENERAL INFORMATION
Lab #:1
Name of the Lab:
DC Motor Static and Dynamic Characteristics
Lab Weighting:
10%
Delivery mode:
Lecture
Online
Lab
Estimated total
study hours 1 :
Venue for the Lab:

Lab Dependencies 2
The theoretical background to this lab is provided in ECNG2009

Theoretical content link:
1) Sample dynamic systems and their mathematical descriptions: DC
motor powered servo systems;
2) Mechanical, thermal and flow systems and state-space representations
Pre-Requisites ECNG2009
Recommended
prior knowledge
and skills 3 :
To undertake this lab, students should be able to:

a. Utilize the key mathematical prerequisites for the course: complex
numbers, polynomial functions, Laplace Transforms
b. Utilize Laplace Transfer Functions as an effective alternative to
differential equations for mathematically describing system dynamics
c. Obtain the poles and zeros of LTI systems
d. Determine the input/output response of Linear Time Invariant (LTI)
systems using the Laplace transfer function
e. e. Discuss why linear model representations are favored for dynamic
systems modelling
f. Use block diagrams to represent linear systems
Estimate includes teaching time, study time, and student preparation time for classes and labs.
Include any Co-requisites, Post-requisites, or Forbidden course /lab combinations with respective code (C/P/F).
3
Lecturers can state lab input requirements in terms of student behaviours.
2

Course Staff
Lucia Cabrera-Jones
Andre Morris
Position/Role
Teaching
Assistant
Laboratory
Technician
E-mail

Phone

2462
3193
Office
Office
Hours
322
Control
Systems
Lab
2. LAB LEARNING OUTCOMES

Upon successful completion of the lab assignment, students will be able to:
Cognitive
Level
1. Describe the operation of a DC motor using first principles

2. Apply first principles to develop a second order linear mathematical
representation of an armature controlled DC motor that models the effect of
armature voltage and load torque on motor speed and position.
3. Calculate a simplified first order model of the armature controlled DC
motor
4. Utilize the model developed to estimate the static and dynamic
characteristics of an armature controlled DC motor
3. PRE-LAB
Due Date:
Submission
Procedure:
Estimated time to
completion:
Submit to TA
3.1. Required Reading Resources

Katsuhiko Ogata, Prentice Hall 1997. Modern Control Engineering (4td Ed) .

3.2. Other Resources

Course Web site: http://www.eng.uwi.tt/depts/elec/staff/copeland/
3.3. Pre-Lab Exercise

3.4.1. Background
Traditionally, Servomechanisms are feedback systems used for controlling mechanical

speed or position. Typical applications include conveyor belts, consumer equipment drives
(e.g. video and audio tapes, CDs, DVDs, hard-disc drives), aileron control in air craft, crane
lifts etc. Servomechanism systems are the most common application of control theory in the
electrical engineering discipline. In fact, the term is now applied, not just to systems
employing mechanical elements, but to more general feedback control systems including
biological ones.
A servomechanism (or servo) system is comprised of four major components
1.
2.
3.
4.
A motor (electric, pneumatic or hydraulic) translates energy into motion

Controller and control amplifier provides control of motion
Velocity and position feedback sensors provides measurement of motion
Gearbox or belt/pulley system (optional) facilitates matching of the motor and load
characteristics
The servomotor must be matched to the intended application. Usually the most important
specification pertains to the level of torque that can be developed over a given range of
speed. For example, DC motors would be used when a large amount of torque must be
developed at zero or low speeds (as in passenger electric trains). On the other hand, less
expensive AC motors are favored for higher speed applications. In both cases, the gearbox or
belt/pulley system helps to increase the torque and/or speed range of the motor. The control
strategy used depends on the precision of control required. Low precision systems may use
no controls at all (open loop). Feedback increases the level of precision.

This lab focuses on the modeling and control of DC motors in servomechanism systems.
Students will develop a linear model(s) of the motor system that will be later used to
derive a prototype control strategy.
3.4.2 DC Motors
A DC motor is used to convert electrical energy to mechanical energy usually in the form of
rotation or linear motion. Rotational motors are by far the most common. Rotation is effected
through the magnetic interaction of two systems: the armature and stator systems.
The armature system is comprised of a winding on a soft iron core coupled to the shaft of the
motor. The stator generates a fixed magnetic field that threads the armature system. This can be
achieved by use of a permanent magnet (permanent magnet DC motor) or an electromagnet
comprised of a coil (stator field winding) wound on magnetic material. Application of a voltage
to the armature winding sets up a separate magnetic field which interacts with the field generated
in the stator system resulting in motion of the armature and shaft. If the armature excitation were
to be maintained, the shaft would rotate to a steady state position. Continuous rotation can be
achieved by cleverly switching the armature excitation. Figure 3.1 provides a diagrammatic
summary of the details discussed above.

Typical DC Motor
Armature system on shaft.

Commutator segments are shown
to the left of the shaft
Stator system
FIGURE 3.1 DC Motor operation and construction

(a)The rotating magnet moves clockwise because like poles repel.
(b) The rotating magnet is being attracted because the poles are unlike.
(c) The rotating magnet is now shown as the armature coil. Its polarity is switched by the brushes
and commutator segments to effect continuous motion.
Source: DC Motor Theory, by Thomas E. Kissell, Industrial Electronics, Second Edition, Prentice Hall
PT
In general, DC motors are set up for ARMATURE CONTROL or FIELD CONTROL. For
armature control, the field current is kept constant while the motor speed is varied by
changing the armature current; since a constant field current implies a constant magnetic
7

field, permanent magnet DC motors are by nature armature controlled. In field control, the
armature current is kept constant while the motor speed is varied by variation of the field
current. Armature control is usually favoured because field control systems have an
inherently under-damped speed characteristic. Field control systems, however, require less
control power.
3.4.3 Pre-Laboratory Assignments:-Modeling the DC Motor from first principles.
Pre-laboratory Exercises must be completed before the laboratory exercise.

The following nomenclature is used for the open-loop modeling of the DC motor.
Table 3.1:-Open-Loop System Nomenclature

N.B:- The back emf constant kb = km once we work in S.I units.

3.5 Pre-Laboratory Assignments: First Principles
The motor, inertial load, power amplifier, encoder along with the signal conditioning required to
obtain estimate velocity is modeled by the Motor and Inertial Load subsystem, as represented in
Figure 3.2. The block has one input: the voltage to the motor Vm and one output: the angular
velocity of the motor m. Additionally, a second input is also considered: the disturbance torque,
Td, applied to the inertial load.
(a)
Ra
La
Amplifier
Vm
ea
JL, bL
eb
N
T
L
Jm, bm
Motor
Gearbox
Inertial and
viscous load
(b)
Figure 3.2:- The motor and Inertial Load Subsystem: (a) simplified block diagram
(b) expanded block diagram

In the following, the mathematical model for the Motor and Inertial Load subsystem is derived
through first principles.
Motor: First Principles
1. In S.I units motor torque constant kt is numerically equal to the back-electro-motiveforce (back EMF) constant, km i.e.,
kt = km.
Note:-This laboratory exercise uses SI units throughout. km is used to represent both the torque
constant and the back-electro-motive force constant.
Considering a single current-carrying conductor moving in a magnetic field, derive an

expression for the torque generated by the motor as a function of current and an expression
for the back EMF voltage produced as a function of the shaft speed. You may use Figure 3.3
in this regard. Show that both expressions are affected by the same constant, as implied in
relation [4.1]. Explain.
Solution:
10
4.1

Magnetic
field
strength,
B
Armature
conductor
Armature
current I
Motor
shaft
Figure 3.3: Magnetically induced force on a DC motor armature
2. Figure 3.4 is a schematic of the armature circuit of a standard DC motor. Derive the
relationship, expressed in the Laplace domain characterizing, between the armature current
(ia) and voltages (ea, eb).
11

Ra
La
Td
Ia
ea
m
eb =km m
Tm
Jeq
Figure 3.4:- DC Motor Electric Circuit
3. Using the previous result determine and evaluate the motor electrical time constant, e.
Assume that the shaft is stationary. The parameters of the motor are listed in Appendix.1.
System Parameters
Solution:
4. Assume e is negligible and simplify the motor electrical relationship previously determined.
What is the simplified electrical equation?
12

Solution:
5. Determine the equivalent moment of inertia of the motor rotor and the load, assuming n=1
since the motor drives the load directly (there is not gear). Neglecting the friction in the
system, derive from first dynamic principles the mechanical equation of motion of a DC
motor.
Solution:
6. Calculate the moment of inertia of the inertial load which is made of aluminum. Also,
evaluate the motor total moment of inertia. Assume that the load is a perfect disc i.e. zero
thickness and uniformly distributed mass. Resume the system parameter values Jeq , Km and
Rm.using the data sheet that is given in Table A.1
7.
Solution:
13

3.5.1 Static Relations
Modeling by experimental tests on the process is a complement to first principles modeling. In

this section we will illustrate this by static modeling. Determining the static relations between
system variables is very useful even if it is often neglected in control systems studies. It is useful
to start with a simple exploration of the system.
Answer the following questions.

1. Assuming no disturbance and zero friction, derive an expression for the motor maximum
velocity: max.
Solution:
14

0
2. Determine the motor maximum current, Imax, and maximum generated torque,
Tmax.(Torque /Speed characteristics).Explain.
Solution:
3. During the in-laboratory session you will be experimentally estimating the motor resistance
Rm. This can be done by applying constant voltages to the motor and measuring the
corresponding current while holding the motor shaft stationary.
Derive an expression that will allow you to solve for Rm under these conditions. Explain.
Solution:
15

4. (Locked Rotor Test) During the in-laboratory session you will be experimentally estimating
the motor torque constant km. This can be done by applying constant voltages to the motor and
measuring both corresponding steady-state current and speed (in radians per
second).Assuming that the motor resistance is known, derive an expression that will allow
you to solve for km. Explain
What is the effect of the inertia of the inertial load on the determination of the motor constant?
Solution:
3.5.2 Dynamic Models: Open-Loop Transfer Functions
Answer the following:
Draw the block diagram and determine the transfer function, G,V(s), of the motor from
voltage applied to the motor to motor speed. Explain
Hint:
1.
The motor armature inductance Lm should be neglected. The friction of the motor is so small that
can be considered as cero.
Solution:
16

2.
Express and evaluate G,v(s) as a function of the parameters a and b, defined such as:
b
G ,v =
s+a
[4.2]
Solution:
17

0
3.
Express and evaluate G,V(s) as a function of the parameters K and , defined such as:
k
G , v =
s + 1
[4.3]
Solution:
4.
Determine and evaluate the transfer function, G,T(s), from disturbance torque applied to the
inertial load to motor speed. Express G,T(s) as a function of the parameters KTd and Td, as
defined below:
G ,T ( s ) =
KTd
Td s + 1
[4.4]
Show that Td =
Solution:
18

Derive the motor open-loop block diagram clearly showing the effect of all major
parameters above (see class notes).
Solution:
5.
6.
Simplify the open-loop block diagram obtained so that it has the block structure depicted in
Figure 3.5 HINT: Determine the composite transfer function for the block drawn in 7 above.
19

Td
Vm
Figure 3.5:-Simplified Open Loop Block Diagram of the Dc Motor
Solution:
The transfer function G,V(s) previously derived is only an approximation since the
inductance of the motor has been neglected. Considering the motor electrical time constant
e previously evaluated, justify the approximation.
Solution:
7.
20

21

3.6 Pre-Laboratory Results Summary Table
Table 3.2 below MUST be completed before you come to the in-laboratory session to
perform the experiments.
Question
Description
Symbol
Value
Unit
3.5 Motor First Principles
Motor electrical time constant
Disc load moment of inertia
J1
Kg.m 2
Total moment of inertia
Jeq
Kg.m 2
3.5.1 Static relationships
Motor maximum velocity
max
Rad/s
Motor maximum current
Imax
Motor maximum torque
Tmax
Nm
3.5.2 Dynamic relationships
Motor torque constant
km
Nm/A
Motor armature resistance
Rm
Open-loop model parameter
kg.m/(Ws4)
22

6
Open-loop model parameter
1/(V. s )
Open-loop steady-state gain K
rad/(V.s)
Open-loop time constant
Open-loop torque disturbance gain
rad/(N.m.s)
Table 3.2- Modeling Pre-Laboratory Assignment Results
23

24

4. IN-LAB
Allotted Completion 4 hours
Time:
1. The Quanser DCMCT rig
Required lab
2. PC with serial port and operational JAVA engine which is needed to
Equipment:
power the GUI used in this lab
4.1. In-Lab Procedure
4.1.1 Lab Specifics
The motor used in this lab is a Maxon 18-Watt permanent magnet DC motor. The motor is
mounted on the DC Motor Control Trainer (DCMCT) rig manufactured by Quanser. This
trainer rig allows the user/student to operate and control the motor using analog electronics or
a PC. The DCMCT consists of (Fig 4.1)
1. a potentiometer for precision speed and position sensing
2. a digital shaft encoder for precision speed and position sensing.
3. a QIC Processor Core consisting of a 16F877 PIC microcontroller. This allows for
control and monitoring of the DCMCT from a PC connected to the DCMCT serial port.
Various options can be selected by onboard jumpers. For this series of lab, we will use the
QIC Processor Core under PC control to provide the excitation signals and monitor motor
variables.

1.
2.
3.
4.
Maxon DC Motor
Removable inertial Load
Linear Power Amplifier
High Resolution Optical
encoder
5. Ball
Bearing
Servo
Potentiometer
6. Removable Belt to drive
the potentiometer
7. i. PC Interface Option:
this is implemented by
using DtoA and AtoD
converters
ii. Analog Controller
Option: to implement
controllers using analog
electronic circuits
8. Breadboard Option: to
implement
controllers
with your own circuits
9. Embedded/Portable
Option: The QIC installs
in this socket to perform
embedded control in
place
of
PC-based
control
10. Serial Port (used by
QICii)
11. PIC Reset Switch
12. User Switch: Momentary
Action
Pushbutton
Switch
For
Manual
Interaction
13. Inertial Load Storage Pin
14. Jumper J6: to switch
between HIL and QIC
use
15. 6mm Power Jack
16. Power Supply I leader: J4
17. Analog Signals I leader:
ii 1
Figure 4.1 : DCMCT Trainer Module and Schematic (Quanser)
26

Students are required to refer to the analytical derivation of the motor model in the course text and
notes. This will assist in the estimation of the system model in this exercise.
In this lab you will be asked to derive the theoretical open-loop model of the system and to assess
its performance limitations. The DCMCT system is designed in such a way that a good model can
be derived from first principles. The physical parameters can all be determined by simple
experiments. Using QICii and the QET you will apply inputs to the process and observe its
outputs thus allowing you to estimate system parameters using static and dynamic measurements.
The model is to be validated by comparing the measured step response with that obtained from a
simulation of the derived model.
Our model will not consider the effect of nonlinearities, although these affect the system
primarily via amplifier and motor saturation. Other effects such as higher order dynamics and
measurement noise are also ignored.
4.2 Module Description
In this section you would be using the QICii Modeling module to determine the open loop model
of the DC motor. The user interface for the module should be similar to the one shown in Figure
4.2. Table 4.1 lists the main elements comprising the QICii Modeling module user interface.
Every element is uniquely identified through an ID number and located in Figure 4.2.
27

Figure 4.2:- Modeling module of the QICii software
2.5.1. M
28

otor First Principles
ID #
Label
Parameter Description
Unit
Speed
Motor Output Speed Numeric Display
rad/s
Current
Im
Motor Armature Current Numeric Display
Voltage
Vm
Motor Input Voltage Numeric Display
Signal
Type of Generator For The Input Voltage
Generator
Signal
Amplitude
Generated Signal Amplitude Input Box
Frequency
Generated Signal Frequency Input Box
Hz
Offset
Speed
Scope With Actual (in red) And Simulated rad/s

(in blue) Motor Speeds
Voltage
Vm
Scope With Applied Motor Voltage (red)
10
Motor Model Steady-State Gain Input Box
rad/(V.s)
11
Motor Model Time Constant Input Box
12
Tf
Tf
Time Constant of Filter for Measured s

Signal
Generated Signal Offset Input Box
Table 4.1:- QICii Modelling Module Nomenclature
29

The Modeling module program runs the process in open-loop using the motor voltage which is
given by the signal generator. Two PLOT windows show the time histories of motor seed and
motor voltage.
QICii runs a simulation of the system in parallel with the hardware. The output of the simulation
can be used for model fitting and validation. The input of the simulation is equal to the motor
voltage and the output of the simulation is displayed (blue trace) in the same window as the
actual motor speed (red trace). The simulation model parameters K and can be adjusted from
the front panel. The simulated motor speed, s, is obtained from the simulated transfer function
and actual motor voltage using the assumed transfer function model:-
s ( s ) =
KVm ( s )
s +1
[5.1]
The implemented digital controller in the QIC runs at a sample rate of 100 Hz, i.e.,
h=0.01s
[5.2]
Note that the actual speed is obtained by filtering the position signal using the following filter:-
m =
s m
Tf s + 1
[5.3]
where m is the position of the motor shaft measured by the encoder.
30

4.3 Module Startup
In order to power up the DCMCT you will first need to launch the QICii software as follows:
a. Go Start-Programs-Quanser-QICii-QIcii .
b. A command window will appear before the QICii screen is launched
Once this screen appears follow these instructions below in order to start running the lab.
1. Make sure the drop down menu on the left at the top of the QICii screen is set to
Modelling and the port is set to COM1.
2. Press the Download program button on top of the QICii window
3. Click on the Write (F4) button of the PIC downloader popup window
4. Push the Reset button on the QIC, Figure 5.2 to start the down load.
5. Once the download is complete, close the pop-up window. Press the Reset button again
on the QIC .The two LEDs should start flashing.
6. Press the User Switch, which is close to the flashing light. Automatically the removable
inertial load will start to spin.
7. Press the Connect/Disconnect button to Connect and hence, display the trace.
The default module parameters loaded after download are given in Table 4.2.
31

Reset
Push -button
Force on armature conductor, F
Signal
Figure 4.3:-Locating the push-button and the LEDs

Amplitude Frequency Offset
K
Tf
Type
[V]
[Hz]
[V]
[rad/(V.s)] [s]
[ s]
Square
2.0
0.4
0.0
10.0
0.01
0.2
Wave
Table 4.2:- Default Parameters For The Modelling Module

4.3.1 Using the QICii interface
Following are some useful TIPS to facilitate your laboratory experience:
Entering data: The lab requires that you change the input voltage several times. Thi scan be
done on the PC keyboard or using the green up/down arrows on your QICii
interface.
NB: If you are using your PC keyboard, make sure to press the ENTER key
after entering the new value.
32

In case of disconnection:
1. Press the Reset button again on the QIC .The two LEDs should start
flashing.
2. Press the User Switch, which is close to the flashing light.
3. Press the Connect/Disconnect button to Connect and hence, display the
trace.
4.4 STATIC RELATIONS
Initial Experimental Tests

Objectives
1. Determine the maximum velocity and compare with calculations.

2. Determine the Coulomb friction.
4.5 Experimental Procedure
A procedure of this type is very useful to make sure that a system functions properly. Follow the
steps described below.
1.
Step 1.Run the system open-loop by changing the voltage of the motor. The motor voltage is set
by the signal generator. With zero signal amplitude, increase the signal offset gradually from
1 to 5 with increments of 1, to generate a constant voltage. Observe the steady-state speed,
current, and velocity? Record the values obtained. Include in your results a snapshot of the
change in the steady state speed showing the transition of one speed to another. What
happens to the variables as the offset increases?
33

Offset (V)
Current (A)
Velocity (rad/seg)
Comments
Step 2.
Although the motor maximum input voltage is 15 V, the Offset numeric input is limited to 5 V.
Determine the maximum velocity and compare with calculations made in the Pre-Lab section
3.5.1 Q1?
34

Step 3. Keeping the amplitude at zero Change the value of the offset (starting at zero) on the
motor and increase it gradually in steps of 0.06 until the motor starts to move. Determine the
voltage when this occurs. Repeat the procedure at least 3 times. Repeat the test with negative
voltages Record the values obtained. Explain why the voltages obtained may vary?
Positive
Direction
Negative
Direction
Comments
35

4.6 Estimate the Motor Resistance
Some of the parameters of the mathematical model of the system can be determined by
measuring how the steady-state velocity and current changes with the applied voltage. To
experimentally estimate the motor resistance, follow the steps described below:
Step 1.Set the generated signal amplitude to zero. If the signal offset is different from zero then
the motor will spin in one direction, since a constant voltage is applied. You can change the
applied voltage by entering the desired value in the Offset numeric control of the Signal
Properties box. You can also read the actual motor current from the digital display. The
value is in Amperes. Fill the following table (i.e. Table 1.5). For each measurement hold the
motor shaft stationary by grasping the inertial load to stall the motor. Note that for zero
Volts (Offset zero) you will measure a current, Ibias, that is possibly non-zero. This is an
offset in the measurement which you need to subtract from subsequent measurements in
order to obtain the right current. Note also that the current value shown in the digital display
is filtered and you must wait for the value to settle before noting it down. The readings of
the measured currents Imeas must be made to 3 d.p. The recorded value must be taken an
average of 3 times when reading each sample.
36

Sample:
Vm(i)
Offset in Measured
[V]
Current: Ibias [A]
Sample:
Vm(i)
Measured Current:
Corrected for Bias: Resistance:
[V]
Imeas(i) [A]
Im(i) [A]
-5
-4
-3
-2
-1
10
Rm(i) []
Average Resistance: Ravg []

Table 4.3:- Motor Resistance Experimental Results
Step 2: From Table 4.3, above; explain the procedure you used to estimate the resistance Rm and
Ravg.
37

Step 3.The system parameters are given in Table 4.7. Compare the estimated value for Rm (i.e.
Ravg) with the specified value and discuss your results.
38

4.7 Estimate the Motor Torque Constant
Follow the steps described below to experimentally estimate the motor back-EMF constant:
Step 1.With the motor free to spin, apply the same procedure as above and fill the
following table (i.e. Table 4.4). You can read a value for the motor angular speed from the
digital display. Wait a few seconds after you enter a new voltage value as the displayed
speed values are low-pass filtered. The angular speed value is in radians per seconds. The
current measurement may have an offset which you will need to account for. The speed
measurement will have a very small offset which will need to be compensated for. Calculate
the motor back-EMF constant for each measurement iteration and then calculate an average
for the 10 measurements. You should use the value of Ravg that you estimated in the previous
section.
39

Sample:
Vm(i) Ibias
Ravg
[V]
[]
Sample:
Vm(i) Measured Speed:
[V]
-5
-4
-3
-2
-1
[A]
m(i) [rad/s]
Imeas(i)
Im(i)
km(i)
[A]
[A]
[V.s/rad]
40

9
10
Average Back EMF-Constant: km_avg [V.s/rad]

Table 4.4:- Back-EMF Constant Experimental Results
Step 2.Explain the procedure you used to estimate km , km avg.
Step 3.The system parameters are given in Table A.1. Compare the estimated value for km
(kmavg )
with the specified value and discuss your results
41

4.8 Obtain the Motor Transfer Function
From the above estimates, obtain a numerical expression for the motor open-loop transfer
function G,V. What are the estimated open-loop steady-state gain and time constant? How does
this compare with the open-loop transfer function you obtained in Section 4.2.3 Dynamic
Models: Open-Loop Transfer Functions, Question 5?
42

4.9 Estimate the Measurement Noise
The measurement noise can be determined experimentally as follows:

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1.
Determine the measurement noise for speed control by running the motor with a constant
voltage and observing the fluctuations in the velocity. Use two values of constant voltage and
compare the differences.
Hint: In order to view the noise on the actual speed (red trace) use the magnifier
key,
which expands the Y axis.
2. Does the noise level depend on the velocity? Observe as the speed increases what happens to
the disturbance frequency? Justify your answer. Do you also observe any repeatable
fluctuations in your velocity signal? Suggest one probable source of these fluctuations?
Hint:
Can the fluctuations in your velocity signal be related to the motor position?
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0
4.10
Dynamic Models: Experimental Determination Of System Dynamics
A linear model of a system can also be determined purely experimentally. The idea is simply to
observe how a system reacts to different inputs and change the structure and parameters of a
reference model until a reasonable fit is of the model and actual responses is obtained. The
inputs can be chosen in many different ways and there is a large variety of methods.
4.10.1 The step response test
The step response test is carried out by applying a constant input to bring the system, which must
be stable, to a suitable steady state point. The input is then changed rapidly to a new level and the
output is recorded. A simple model of the form:
G ,v =
K
s + 1
[5.4]
can now be easily fitted to the data (see Figure 5.3).
Figure 4.4 Step response test input and output
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Assume that the input changes with u and that the corresponding changes in the steady state
output are y. An estimate of the steady-state gain is then given by:
K=
y
u
[5.5]
The quantity is approximately given by the time the output has reached 63% of its total
change.
4.10.2 Experimental Procedure
Please read appendix which describes how to use the QICii plots to take measurements of the
acquired data, to start and stop the plots, and to measure point coordinates on the plots
Step 1. Apply a series of step inputs to the open-loop system by setting the QICii module
parameters as described in Table 4.5
Signal
Amplitude
Frequency
Offset
Type
[V]
[Hz]
[V]
[rad/(V.s)]
[s]
Square
0.4
0.0
Wave
Table 4.5 Module Parameters for the step response test
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Step 2. The open-loop controller now applies a constant-amplitude voltage square wave to the
motor. Step voltages are applied to the motor from the signal generator with a period that is
so long that the system well reaches steady-state at each step. The motor should run at the
corresponding constant speeds. Determine the parameters K and of the model defined in
[5.4] and compare them with the model obtained by first principles in Section 3.5.2,
Question 3.Explain
Step 3. The fact that K = 0 means that the model output is zero. Activate the model by
changing the simulation parameters K and . to the values you previously estimated from the step
response test. Do you obtain a good fit between the estimated and the actual responses? Explain
and print your screen result.
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Step 4 Compare with the results of first principles modeling in Section 4.2.3 Dynamic Models:
Open-Loop Transfer Functions, Question 6. Is your model valid. Explain. Print the screen
showing the comparative results.
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4.11
Concluding Remarks
4.11.1 Load Disturbances and Measurement Noise
There are typically two types of disturbances in a control system. Load disturbances that drive
the system away from its desired behaviour and measurement noise that corrupts the information
obtained from the sensors.
Since this motor does not do any useful work there are no real load disturbances in this case. A
load disturbance can be simulated by gently touching the inertial load with your finger. Load
disturbances can also be simulated by injecting an extra voltage on the motor. The major noise
source for position control is due to the quantization of the angle measurements due to the
encoder.
4.11.2 Automating the Tests
The experimental tests you have done can easily be automated. Measurement of motor resistance
Rm and motor constant km can be done as follows:
Resistance measurement:
Keep the wheel fixed with a clamp. Sweep the voltage slowly for a full cycle, measure
the current, display curve, and present the linear fit and a measure of deviation from
linearity.
Current constant:
Free wheel. Sweep the voltage slowly for a full cycle, measure the speed, display curve,
and present the linear fit and a measure of deviation from linearity.
The system parameter estimation procedures can also be automated by replacing manual search
by an optimization algorithm. Automated test procedures of this type are essential to ensure
quality in mass manufacturing.
4.11.3 Nonlinearities
Many aspects of control can be dealt with using linear models. There are however some
nonlinear aspects that always have to be taken into account. The major nonlinearities are:
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Saturation of the motor amplifier.

Friction in the motor.
Quantization of the encoder.
It is very important to keep in mind that all physical variables are limited. The amplifier that
drives the motor has a 15V power supply which restricts the voltage from the amplifier to Vmax
= 15 V. A consequence is that the current through the motor is also limited.
The limitation in signal ranges implies that the motor transfer functions G,V and G,T do not
describe the system well for large signals.
The other main nonlinearities are due to Coulomb friction, approximately equivalent to 0.2-0.5V,
and quantization in the encoder 2/4096 = 1.5 10-3 rad.
4.11.4 Unmodeled Dynamics
When determining physical parameters it is customary to assign a precision to the values.

There are uncertainties due to variations in component values, temperature variation of the
armature resistance. It is therefore natural to give some measure of accuracy to the transfer
functions G,V and G,T. One way to do this is to give the accuracy of parameters such as K and .
This does unfortunately not capture all relevant issues because the actual transfer function may
be much more complicated than the simple first order system given by Equation [5.4], the system
may even be nonlinear. This effect which is called unmodeled dynamics can be specified in
many different ways. An estimate of the unmodeled dynamics is an essential aspect of modeling
for control. It is equivalent to an error analysis in traditional measurements.
To have an indication of the accuracy of a model it is necessary both to have an estimate of the
accuracy of its parameters and also an assessment of dynamics that has been neglected.
One obvious factor is that the controller and the computation of the velocity is implemented in a
computer. The encoder gives values of the angle that are quantized with a resolution of 2/4096
= 1.5 10-3 rad. Since the controller is implemented on a computer there are also dynamic effects.
50

A crude approximation is to assume that there is an extra time delay corresponding to half a
sampling period.
The system has no sensor for velocity. The velocity is instead obtained by taking filtered
differences of the position. A common rule of thumb is to approximate the effect of the computer
by adding a delay of half a sampling interval or 0.005 s. Since the velocity is computed by taking
differences of the angles between two sampling intervals there is an additional delay in the
velocity signal of one sampling interval. Because of the extra sampling period required to
compute velocity from the encoder position, the time delay will be approximately one and a half
sampling interval. The signal is also filtered which introduces additional dynamics.
The inductance of the rotor has already been mentioned previously. The model we have obtained
is an approximation because we have neglected the inductance in the motor rotor. A more
accurate transfer function from voltage to motor speed is thus:-
G ,v ( s ) =
km
k
J eq +
( Lm s + Rm )
R
m
[5.6]
1
km ( s + 1) ( e s + 1)
[5.7]
2
m
which can also be expressed as:-
G ,v ( s ) =
Full details can be found in the class notes.
Introducing the numerical values we find = 0.0929 s and e = 0.0000774 s, which means
51

that the electrical time constant is much smaller than the time delay. The major contribution to
the unmodeled dynamics is thus due to the effects of sampling. It is 0.005 s for the position
signal and 0.015 s for the velocity signal (i.e. speed control).
4.11.5 In-Laboratory Results Summary Table
Table 4.6 should be completed using Table 3.2, which contains data from the pre-laboratory
assignments, as well as experimental results obtained during the in-laboratory session.
Question
Section Description
Symbol Pre-Lab
Value
In-Lab
Unit
Result
5.2. Static Relations
1.
Motor Maximum Velocity
max
rad/s
1.
Positive
Voltage
Coulomb
Friction Vfp
N/A
1.
Negative
Voltage
Coulomb
Friction Vfn
N/A
2.
Motor Armature Resistance
Rm
3.
Motor Torque Constant
km
N.m/A
4.
Open-Loop Steady-State Gain
rad/(V.s)
52

4.
Open-Loop Time Constant
5.3.1 Dynamic Models:

The Step response
Open-Loop Steady-State Gain
rad/(V.s)
Open-Loop Time Constant
Table 4.6: Results Summary Table
53

Appendix 1: System Parameters
Symbol Description
Unit
Value
Motor
km
Motor Torque Constant
Nm/A
0.0502
Rm
Motor Armature Resistance
10.6
Lm
Motor Armature Inductance
mH
0.82
Motor maximum continuous torque
Nm
0.033
Motor power rating
18
Jm
Moment Of Inertia Of Motor Rotor
Kg.m 2
1.16E(-6)
Motor Mechanical -Time Constant
0.005
Mi
Inertial Load Disc Mass
kg
0.068
ri
Inertial Load Disc Radius
0.0248
Linear Amplifier Maximum Output Voltage
15
Linear Amplifier Maximum Output Current
1.5
Linear Amplifier Maximum Output Power
22
Linear Amplifier
Vmax
Linear Amplifier Maximum Dissipated Power W

with heat sink Rload =4
Linear Amplifier Gain
V/V
Table 4.7: DCMCT Model Parameter Specifications
54

Appendix 2: Sensor Parameters
Description Current sense
Value
Unit
Current Calibration at 10% at QIC A/D input
1.112
A/V
Current sensor resistor
0.1
Line Count
1024
Lines/rev
Resolution (in quadrature)
0.0879
/count
Type
TTL
Encoder signals
A, B, Index
Encoder
Potentiometer
Calibration at POT RCA jack
39
/V
Calibration at QIC A/D input
78
/V
Resistance
10
Bias voltage
4.7
Electrical range
350
Calibration at TACH RCA jack
667
RPM/V
Calibration at QIC A/D input
1333
RPM/V
Tachmoeter
Table 4.8: DCMCT sensor parameter specifications
55

NB Analog sensor calibration constants for the QIC A/D converters are twice those for the RCA
output jacks. This is because the RCA outputs are in the 5V range while the QIC A/D inputs
are in the 0-5V range.
Appendix: 3 How to use the QICii plots
56

57

A signed plagiarism declaration form must be submitted with your assignment.
End of Lab#1: Modeling the DC Motor from First Principles
58

Control Lab1

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ST. AUGUSTINE, TRINIDAD & TOBAGO, WEST INDIES

Lab # 1: DC Motor Static and Dynamic

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General Information ................................................................................................................ 3

Lab Learning Outcomes .......................................................................................................... 4

Required Reading Resources .......................................................................................... 4

Other Resources .............................................................................................................. 5

In-Lab Procedure .......................................................................................................... 25

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Equation 4.3: Gw, v =

Equation 4.4: Gw,T =

Equation 5.2: h=0.01s ..30

Equation 5.4: Gw, v =

Equation 5.6: Gw, v ( s ) =

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DC Motor Static and Dynamic Characteristics

Venue for the Lab:

The theoretical background to this lab is provided in ECNG2009

To undertake this lab, students should be able to:

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2. LAB LEARNING OUTCOMES

1. Describe the operation of a DC motor using first principles

3.1. Required Reading Resources

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3.2. Other Resources

3.3. Pre-Lab Exercise

Traditionally, Servomechanisms are feedback systems used for controlling mechanical

A motor (electric, pneumatic or hydraulic) translates energy into motion

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Armature system on shaft.

FIGURE 3.1 DC Motor operation and construction

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Pre-laboratory Exercises must be completed before the laboratory exercise.

Table 3.1:-Open-Loop System Nomenclature

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Considering a single current-carrying conductor moving in a magnetic field, derive an

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Figure 3.3: Magnetically induced force on a DC motor armature

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Figure 3.4:- DC Motor Electric Circuit

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3.5.1 Static Relations

Modeling by experimental tests on the process is a complement to first principles modeling. In

Answer the following questions.

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3.5.2 Dynamic Models: Open-Loop Transfer Functions

Answer the following:

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Figure 3.5:-Simplified Open Loop Block Diagram of the Dc Motor

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3.5 Motor First Principles

Motor electrical time constant

Disc load moment of inertia

Total moment of inertia