Assignment 3

Khansa Shakir Khawaja S-3298 Electrical-11 Control System

Submitted to:Maam Shagufta

DC FAN SPEED CONTROL MODELING

The relationships between electric potential and mechanical force are Faraday's law of induction and Ampre's law for the force on a conductor moving through a magnetic field. Motor equations can be described by The motor torque, T, is related to the armature current, i, by a constant factor Kt. The back emf, e, is related to the rotational velocity by the following equations:

In SI units (which we will use), Kt (armature constant) is equal to Ke (motor constant). From the figure above we can write the following equations based on Newton's law combined with Kirchhoff's law:

Transfer Function
Using Laplace Transforms, the above modeling equations can be expressed in terms of s. Js2+bs=ki(s)

By eliminating I(s) we can get the following open-loop transfer function, where the rotational speed is the output and the voltage is the input.

Matlab code
J=0.01; b=0.1; K=0.01; R=1; L=0.5; num=K; den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2)]; % for transfer function bode(num,den)

Without Compensator:%without compensator

Bode Diagram -20 -30 -40 -50

Magnitude (dB) Phase (deg)

-60 -70 -80 -90 -100 -110 -120 0

-45

-90

-135

-180 10
-1

10

10

10

10

Frequency (rad/sec)

Gxof=NnN Pxof=inf Gm=infinity Pm=infinity Step Response of uncompensated system.(0S-Ts-Tr-Steady state error)

Design Controller using Bode Plot

To find the gain at 10 rad/sec, you can try to read it off the Bode plot (it looks to be slightly more than -40 dB, or 0.01 in magnitude). The bode command, invoked with left-hand arguments, can also be used to give you the exact magnitude:
[mag,phase,w] = bode(num,den,10) mag = 0.0139

To have a gain of 1 at 10 rad/sec, multiply the numerator by 1/0.0139 or approximately 72.

num = 70*num Adding propotinal gain 70

With Compensator:Using lag compensator (s+2)/(s+0.01) %with compensator syms s g=(s+2)/(s+0.01)*(0.01)/(0.005*s^2 + 0.06*s + 0.1001) [n,d]=numden(g) num=sym2poly(n) den=sym2poly(d) bode(num,den) % % bode(sys) [Gm,PM,PXOF,GXOF]=margin(num,den) GM=20*log10(Gm) PM GXOF PXOF

Step Responce of Compensated sys---(GM,PM)