Assignment No.

01:
Design of speed-controller Fed PMDC motor drive
Contents:
 Theory Overview
o Introduction (PI, PID controller)
o Three Phase Converter Controlled Fed DC Motor
Drives
o Derivations Transfer Function of the system
Components
 Solve Example
 Calculations in Hard form
 Calculations in Soft
 Implement on MATLAB
o Model(with limiter, PI, PID Controller)
o Parameters
o Output waveform of speed
Subject:
Industrial Electronics
Submitted To:
Sir Kashif Iqbal

Submitted By:
Shahid Nadeem 2015-EE-731
Huzaifah Siddqui 2015-EE-718
M Asad Abbas 2015-EE-725
 Design of speed-controller Fed PMDC motor Drive
INTRODUCTION
PI Controller:
What is Proportional Integral (PI) Controller?
A proportional–integral–derivative controller (PID controller) is a generic control loop feedback
mechanism (controller) widely used in industrial control systems. A PID controller calculates an “error” value
as the difference between a measured process variable and a desired set point. The controller attempts to
minimize the error by adjusting the process control inputs.
P Control. Output power is directly proportional to control error. The higher the proportion
coefficient, the less the output power at the same control error. Proportional control can be recommended for
fast-response systems with a large transmission coefficient. To adjust the proportional controller you should
first set the maximum proportion coefficient where in the output power decreases to zero. When the measured
value is stabilized, set a specified value and gradually reduce the proportion coefficient and the control error
will decrease. If there are periodic oscillations in the system, the proportion coefficient should be increased so
that control error is minimal periodic oscillations decrease to the limit.
PI Control. Output power equals to the sum of proportion and integration coefficients. The higher the
proportion coefficient, the less the output power at the same control error. The higher the integration
coefficient, the slower the accumulated integration coefficient. PI control provides zero control error and is
insensitive to interference of the measurement channel. The PI control disadvantage is slow reaction to
disturbances. To adjust the PI controller you should first set the integration time equal to zero, and the
maximum proportion time. Then by decreasing the coefficient of proportionality, achieve periodic oscillations
in the system. Close to the optimum value of the coefficient of proportionality is twice higher than that at
which any hesitation, and close to the optimum value of the integration time constant - is 20% less than the
oscillation period.

What is the purpose of PI controller?

The error signal then goes into the P.I control loop where it gets multiplied by the proportional and
integral constant. The output of the P.I control is a power value and in order to convert it to a quantity that is
comparable to that of the control signal, it goes through a power to PWM signal converter.

What is PI in control system?

A variation of Proportional Integral Derivative (PID) control is to use only the proportional and integral
terms as PI control. The PI controller is the most popular variation, even more than full PID controllers. The
value of the controller output u (t) is fed into the system as the manipulated variable input.

PID Controller:
What is a PID Controller?
The proportional-integral-derivative controller (PID controller) has been used and found to be a source
of design for many years now. Combinations of PID have found their way into many different uses. The reason
for this has been the advent of microcontrollers and the diversity of analog control. The mechanical operation
of a motor has been more reliable and useful in our daily lives. The PID controller that uses a micro has been
defined by industry and has led to additional functions that support motors of all sizes and shapes.
PID stands for proportional, integral, derivative. These three terms describe the basic fundamentals of
a PID design. Each of these elements performs a different function and has unique property when driving,
positioning, and starting/stopping a motor.
 The key to using a PID function is feedback. Instructions or commands to the controller are used based
on individual feedback signals from the motor or sensors being controlled. Their outputs are summed up based
on the PID algorithm to drive the motor backwards, forwards, stop, speed up, or slow down.
Imagine a lathe that carves baseball bats or table legs, or a 3D printer that maneuvers fast, then must
slow down at the precise moment a signature/pen is applied. All of this action is programmed and achieved
by sensing the feedback loops and the information that is needed.

Proportional Control
Proportional control provides an immediate action to the control error. An example of an error may be
slippage or bearing issue. Feedback control is adequate to assist in error control but it is not entirely a solution
by itself. The error will be in a constant state and therefore correction is limited.

Integral Control
Integral control will use the constant error by driving it to zero or near zero. This will help keep the
system uniformed used to control the system alone and therefore can affect the entire loop. This will mean an
error that will exist until correct manually or possibly drive the motor into a stalled state. It should always be
used in tandem with proportional control.

Derivative
The third leg in the formula is the derivative. It acts upon the change of the error that is controlling the
specific function. This is the quickest response to the error and can and is in fact the bias that prevents motors
from stalling, slipping, starting and stopping, but more importantly allows continuous performance.
Remember motors are mechanical and bearings, belts, and brushes (non-brushless) wear. Temperature also
plays a role in feedback. Over time mechanical components change consistency and therefore adjustments to
the PID control allow for independent outputs as a result.

Calibrating a PID Controller

Calibrating a PID controller is usually completed automatically as part of an auto-calibration
technique. You identify the target device and define a series of parameters that are easy for interpreting the
controls. For instance, you would want to find the parameter for accelerating and slowing down. You then
create margins or +/- which are acceptable parameters and meet the applications demands. The margins qualify
for a min max and therefore will adjust based on the derivative feedback loops which govern the motor’s finite
use.

What is the advantage of PID controller?

PID controller combines the advantage of proportional, derivative and integral control action.
The control signal is proportional to the error signal and the proportional gain Kp. A
proportional controller will have the effect of reducing the rise time and will reduce, but never eliminate.

What does a PID controller do?

A proportional–integral–derivative controller (PID controller or three-term controller) is a control loop
feedback mechanism widely used in industrial control systems and a variety of other applications requiring
continuously modulated control.

Why we use PID controller?

PID controllers are named after the Proportional, Integral and Derivative control modes they have.
They are used in most automatic process control applications in industry. PID controllers can be used to
regulate flow, temperature, pressure, level, and many other industrial process variables.
How can PID controller reduce overshoot?
 General Tips for Designing a PID Controller
 Obtain an open-loop response and determine what needs to be improved.
 Add a proportional control to improve the rise time.
 Add a derivative control to reduce the overshoot.
 Add an integral control to reduce the steady-state error.

THREE PHASE CONVERTER CONTROLLED FED DC MOTOR

DRIVES
The control schematic of a two quadrant converter controlled separately excited DC motor is depicted
in Figure 1. The converter output is applied to the armature controlled DC motor. The motor drive shown is a
speed controlled system. The thyristor bridge converter gets its ac supply through a three phase transformer
and fast acting ac contactors. The dc output from the converter is fed to the armature of the dc motor. The
field is separately excited and the field supply cannot be kept constant or regulated, depending on the need for
the field weakening mode of operation. The DC motor has a tachogenerator whose output is utilized for the
closed feedback speed loops.

Figure 1: Speed Controlled two quadrant dc motor drive

The motor is driving a load which is proportional to friction. The output of the tachogenerator is filtered
to remove the ripples to provide the feedback signal 𝜔mr .The speed signal (𝜔r*)is feedback signal which is
compared with the speed command 𝜔mr to produce a speed error signal. This signal is processed through a
Proportional plus Integral (PI) controller to determine the torque command (Te*). The torque command is
limited, to keep it within the safe current limits and the current command is obtained by proper scaling. The
armature current loop signal Ia * is compared to the feedback armature current Ia to have a zero current error.
If there is an error, a PI current controller processes it to alter the control signal Vc. The control signal
accordingly modifies the triggering alpha 𝛼 to be set t the converter for implementation.
The inner current loop ensures a fast current response and also limits the current to a safe preset level.
This inner current loop makes the converter a linear current amplifier. The outer speed loop ensures that the
actual speed is always equal to the commanded speed and that any transient is overcome within the shortest
feasible time without exceeding the motor and converter capacity. The operation of closed loop speed
controlled drive is explained from one or two particular instances of speed command. A speed from zero to
rated value is obtained and the motor is assumed to be at standstill which will generate a large speed error and
a torque command and in turn an armature current command. The armature current error will generate the
triggering angle to supply a preset maximum dc voltage across the motor terminals. The inner current loop
will maintain the current at a level permitted by its command value, producing a corresponding torque. As the
motor starts running, the torque and current are maintained at their maximum level, thus accelerating the motor
rapidly. When the rotor attains the command value, the torque command will settle down to a value equal to
the sum of load torque and other motor losses to keep the motor performance in steady state. The design of
the gain and time constant of the speed and current controllers is of paramount importance in meeting the
dynamic specifications of the motor drives.

TRANSFER FUNCTION OF THE SYSTEM COMPONENTS

During the starting of separately excited DC motor, its starting performance is affected by its nonlinear
behavior. The DC machine contains an inner loop due to induced emf. It is not physically seen; it is
magnetically coupled. The inner current loop will cross this back emf loop, creating a complexity in
development of model and is shown in Figure. The interactions of these loops can be decoupled by suitably
redrawing the block diagram. The development of such a block diagram for the dc machine is shown in Figure
2, step by step.

Figure 2: DC motor and current control loop

The variables of the system are

DC output voltage of the three phase

The load is assumed to be proportional to speed and is given as

Where

Where

According to Equations

Taking friction feedback at reference torque TR as H1(s) and the forward block as G1(s), the torque loop is
reduced by block diagram reduction using the formula
Then the remaining block diagram is reduced taking transfer function of forward loop elements as G1(s) and
feedback elements as H1(s).

The interactions of the loops in block diagram shown in Figure are decoupled by suitably redrawing
the block diagram. To decouple the inner current loop from the machine inherent induced emf loop, it is
necessary to split the transfer function between speed and voltage into two cascaded transfer function, first
between speed and armature current and then between armature current and reference input voltage. This
decouples the inner current loop from the machine inherent induced emf loop. The transfer functions are
represented as

Where
Figure 3

Figure 4

Figure 5
 Figure 6: Step-by-step derivation of a dc machine transfer Function

The converter can be considered as a black box with certain gain and phase delay for modeling and use in
control studies. The dc output voltage of the three phase controlled converter is

The gain of the linearized controller based converter, Kr for a maximum control voltage Vcm is determined
as follows

where,

The converter is a sampled data system. The sampling interval gives an indication of its time delay. Once a
thyristor is switched on, its triggering angle cannot be changed. The new triggering delay can be implemented
with the succeeding thyristor gating. In the meanwhile, the delay angle can be corrected and will be ready for
implementation within 60. i.e., the angle between two thyristors gating. Statistically, the converter time delay
may be treated as one half of this interval in time; it is equal to

where fs is the supply frequency. For a 50-Hz supply voltage source, the time delay is equal to 1.667ms.The
converter is then modeled with its gain and time delay. The resulting converter transfer function

and above equation can also be approximated as a first order time lag and the converter transfer function is
given as
Many low performance systems have a simple controller with no linearization of its transfer characteristic.
The transfer characteristic in such a case is nonlinear. Then the gain of the converter is obtained as a small
signal gain given by

The gain is dependent on the operating delay angle denoted by 𝛼0.The converter delay is modeled as an
exponential function in Laplace operator ‘s’ or a first order lag, describing the transfer function of the converter
as in equation . The current controller and speed controller are of proportional integral type and are represented
as

Where

The gain of the current feedback is denoted by Hc. No filtering is required in the current loop and in case of
filtering requirement, a low pass filter can be included in the analysis. Even then, the time constant of the filter
might not be greater than a millisecond. Most high performance systems use a dc tachogenerator and the filter
required is low pass type with a time constant less than 10 ms. The transfer function of the speed feedback
filter is

Where

The overall closed loop system of the converter fed DC motor drive is shown in Figure. It is seen that
the inner current loop does not contain the inner induced emf loop. The design of control loop starts from the
innermost (farthest) loop and proceeds to the slowest outer loop. The reason to proceed from the inner to the
outer loop in the design process is that the gain and time constants of only one controller at a time are solved,
instead of solving for the gain and time constants of all the controllers simultaneously. In addition to that, the
performance of the outer loop is dependent on the inner loop, therefore the tuning of the inner loop has to
precede the design and tuning of the outer loop.
 Figure 7: Block diagram of the motor drive

The current control loop of the converter fed motor drive is shown in Figure. The loop gain is

Figure 8: Current control loop

Where

Equation gives the fourth order representation and reduction of order is necessary to synthesize a controller
with the following approximation
Reduces the loop gain function to

Where

The time constants in the denominator have the relationship

By selecting Tc= T2 Equation can be reduced to a general second order loop function is

From Equation, the characteristic equation of the system relating Ia(s) and Ia*(s) becomes

Standard form of above Equation is

From above Equation, the natural frequency is

And damping ratio is

For good dynamic performance, the system damping ratio is taken as 0.707. Hence equating the damping ratio
to 0.707 in Equation above, we get
Realizing that

K is approximated as

By equating the Equation, the current controller gain is evaluated as

To design the speed control loop, the second order model of the current loop is replaced with an
approximate first order model. This helps to reduce the order of the overall speed loop gain function. The
second order current loop is approximated by adding the time delay in the converter block to T1 of the motor,
the resulting current control loop can be shown in Figure.

Figure 9: Simplified current control loop

The transfer function of the system relating Ia(s) and Ia*(s) is

Where

Equation can be arranged simply as

Where

The resulting model of the current loop is a first order system, suitable for use in the design of a speed loop.
The speed loop with the first order approximation of the current control loop is shown in Figure.

Figure 10: Representation of the outer speed loop in the dc motor drive

The loop gain function is loop is

Where,

Above equation is a fourth order system. To reduce the fourth order of the system for analytical design of the
speed controller, approximation to be followed
Approximating

The gain function of the speed loop is

Where

The closed loop transfer function of the actual speed to its command is

Where

This transfer function is optimized to have a wider bandwidth and a magnitude of one over a wide frequency
range by looking at its frequency response, its magnitude is given by
 This is optimize by making the coefficients 𝜔2 and 𝜔4 of equal to zero, to yield the following conditions:

Substituting these conditions in terms of the motor and controller parameters given equations yields

Resulting in

Similarly,

which, after simplification, gives the speed controller gain as

Substituting Equations gives the time constant of the speed controller as

Substituting for Ks and Ts into Equation gives the closed loop transfer function of the speed to its command
as

It is easy to prove that for the open-loop gain function the corner points are 1/4T4 and 1/T4, with the gain
crossover frequency being 1/2T4. In the vicinity of the gain crossover frequency, the slope of the magnitude
response is -20 dB/decade, which is the most desirable characteristic for good dynamic behavior. Because of
its symmetry at the gain crossover frequency, this transfer function is known as a symmetric optimum function.
 Speed Control of PMDC Motor using PID Controller
Reference:
Power Electronics by M H Rashid
Chapter No. 14: DC Drives
Example No. : 14.14
Pictures of Reference example:
Page No 01:

Page No 02:

Parameters and Values:

Parameters Values Parameters Values
Vdc 220V Idc 6.4A
f 60Hz Rated speed (N) 1570rpm
G𝜔(s) 0.074 La 67mH
1 + 0.002𝑠
Ra 6.5Ω J 0.06kgm2
Kb 1.24N.m/A Bt 0.087N.m/rad/sec
Kw 0.074 Power (P) 1408 W =1.88 hP
Tw 0.002sec Speed in radians/sec 164.41
Vcm 10 V Ia(max) 20
Solution:
a) Converter transfer function:
The phase Voltage is
𝑉𝐿 220
𝑉𝑠 = = = 127.02V
√3 √3

1.35 × 𝑉𝑟𝑚𝑠
𝐾𝑟 =
𝑉𝑐𝑚
𝐾𝑟 = 29.7
𝑉𝑑𝑐(𝑚𝑎𝑥) = 𝐾𝑟 𝑉𝑐𝑚 = 29.7 × 10 = 29.7 𝑉
3
𝑉𝑑𝑐(𝑚𝑎𝑥) = 𝑉
𝜋 𝑝𝑒𝑒𝑘

𝑉𝑝𝑒𝑒𝑘 = √2 × 220 = 311.1298

3
𝑉𝑑𝑐(𝑚𝑎𝑥) = × 311.1298 = 297.10
𝜋
As,
60⁄2
𝑇𝑟 = × (𝑡𝑖𝑚𝑒 𝑝𝑒𝑟𝑖𝑜𝑑 𝑜𝑓 𝑜𝑛𝑒 𝑐𝑦𝑐𝑙𝑒)
360
1 1
𝑇𝑟 = ×
12 𝑓
𝑇𝑟 = 0.0013888𝑠𝑒𝑐
Converter transfer function is:
𝐾𝑟
𝐺𝑟 (𝑠) = 𝑇. 𝐹 =
1 + 𝑇𝑟 𝑠
29.7
𝐺𝑟 (𝑠) = 𝑇. 𝐹 =
1 + 0.001388𝑠
b) Current feedback gain:
The maximum safe control voltage is 7.405 V and this has to correspond to the maximum current error:
𝑖𝑚𝑎𝑥 = 20𝐴
3
𝑉𝑑𝑐(𝑚𝑎𝑥) = × 𝑉𝑝𝑒𝑎𝑘(𝐿−𝐿)
π
𝑉𝑑𝑐(𝑚𝑎𝑥) = 297.10𝑉

Now,
𝑉𝑑𝑐 𝑉𝑑𝑐(𝑚𝑎𝑥)
=
𝑉𝑐 𝑉𝑐𝑚
220 297.10
=
𝑉𝑐 10

𝑉𝑐 = 7.405𝑉
 𝑉𝑐
𝐻𝑐 =
𝑖𝑚𝑎𝑥

𝐻𝑐 = 0.37025 𝑉⁄𝐴

c) Motor designing and Transfer function:

𝐼𝑎 𝐾1 (1 + 𝑠𝑇𝑚 )
𝑇. 𝐹 = =
𝑉𝑎 (1 + 𝑠𝑇1 )(1 + 𝑠𝑇2 )

1 1 1 𝐵1 𝑅𝑎 1 𝐵1 𝑅𝑎 2 𝐾𝑏 2 − 𝑅𝑎 𝐵𝑡
− ,− = − [ + ] ± √ ( + ) − ( )
𝑇1 𝑇2 2 𝐽 𝐿𝑎 4 𝐽 𝐿𝑎 𝐽𝐿𝑎

1 1 1 0.087 6.5 1 0.087 6.5 2 1.242 − (6.5)(0.087)

− ,− = − [ + ]±√ ( + ) −( )
𝑇1 𝑇2 2 0.06 0.067 4 0.06 0.067 (0.06)(0.067)

Therefore,
1
− = −49 + 43.5967
𝑇1
𝑇1 = 0.1774𝑠𝑒𝑐
1
− = −49 − 43.5967
𝑇2
𝑇2 = 0.0107𝑠𝑒𝑐
Now,
𝐽 0.06
𝑇𝑚 = =
𝐵𝑡 0.087
𝑇𝑚 = 0.68sec
Also,
𝐵𝑡 0.087
𝐾1 = 2 =
𝐾𝑏 + 𝑅𝑎 𝐵𝑡 1.242 + 6.5 × 0.087

𝐾1 = 0.041
So, the motor transfer function will be:
𝐼𝑎 (𝑠) 𝐾1 (1 + 𝑠𝑇𝑚 )
𝑇. 𝐹 = =
𝑉𝑎 (𝑠) (1 + 𝑠𝑇1 )(1 + 𝑠𝑇2 )
𝐼𝑎 0.02788s + 0.041
𝑇. 𝐹 = =
𝑉𝑎 0.0189818𝑠 2 + 0.1881𝑠 + 1

d) Load Transfer Faction:

𝐾𝑏
𝜔𝑚 (𝑠) ⁄𝐵
𝑡
𝑇. 𝐹 = =
𝐼𝑎 (𝑠) 1 + 𝑠𝑇𝑚
𝜔𝑚 (𝑠) 14.25
𝑇. 𝐹 = =
𝐼𝑎 (𝑠) 1 + 0.68𝑠
e) Design of Current controller:
𝑇𝑐 = 𝑇2 = 0.0107𝑠𝑒𝑐
As,
𝑇1 0.0107
𝐾= =
2𝑇𝑟 2(0.0013888)
𝐾 = 63.868

𝐾𝑇𝑐 63.868 × 0.0107

𝐾𝑐 = =
𝐾1 𝐻𝑐𝐾𝑟𝑇𝑚 0.041 × 0.37025 × 290.7 × 0.68
𝐾𝑐 = 2.229𝑠𝑒𝑐

f) Current loop approximation:

𝐼𝑎 (𝑠) 𝐾𝑖
𝑇. 𝐹 = ∗ =
𝐼𝑎 (𝑠) 1 + 𝑠𝑇𝑐
As,
𝐾𝑐 𝐾𝑟 𝐾1 𝑇𝑚 𝐻𝑐
𝐾𝑓𝑖 =
𝑇𝑐
2.229 × 29.7 × 0.041 × 0.68 × 0.37025
𝐾𝑓𝑖 =
0.0107
𝐾𝑓𝑖 = 63.886

Also,
𝐾𝑓𝑖 1
𝐾𝑖 = ×
𝐻𝑐 1 + 𝐾𝑓𝑖
63.886 1
𝐾𝑖 = ×
0.37025 1 + 63.886
𝐾𝑖 = 2.65925
Now,
𝑇3 = 𝑇1 + 𝑇𝑟
𝑇3 = 0.1774 + 0.0013888
𝑇3 = 0.1787𝑠𝑒𝑐
Also,
𝑇3
𝑇𝑖 =
1 + 𝐾𝑓𝑖
0.004754
𝑇𝑖 =
1 + 63.886
𝑇𝑖 = 0.002754sec
So, the transfer function is:
𝐼𝑎 (𝑠) 𝐾𝑖
𝑇. 𝐹 = ∗ =
𝐼𝑎 (𝑠) 1 + 𝑠𝑇𝑐
𝐼𝑎 (𝑠) 2.65925
𝑇. 𝐹 = ∗ =
𝐼𝑎 (𝑠) 0.002754𝑠 + 1

g) Speed controller design and transfer function:

𝑇4 = 𝑇𝑖 + 𝑇𝜔
𝑇4 = 0.002754 + 0.0013888
𝑇4 = 4.754msec
𝑇4 = 0.004754msec
And,
𝐾𝑖 𝐾𝑏 𝐻𝜔
𝐾2 =
𝐵𝑡 𝑇𝑚
2.65925 × 1.24 × 0.074
𝐾2 =
0.087 × 0.68
𝐾2 = 4.1246
And,
1
𝐾𝑠 =
2𝐾2 𝑇4
1
𝐾𝑠 =
2 × 4.1246 × 0.004754
𝐾𝑠 = 25.4993
Also,
𝑇𝑠 = 4𝑇4
𝑇𝑠 = 4(0.004754)
𝑇𝑠 = 0.0190𝑠𝑒𝑐
So, speed controller transfer function will be,
𝜔(𝑠) 𝐾𝑠 (1 + 𝑠𝑇𝑠 )
𝑇. 𝐹 = ∗
=
𝜔 (𝑠) 𝑠𝑇𝑠
0.4844867𝑠 + 25.4993
𝑇. 𝐹 =
0.0190𝑠
Simulation Results:
With limiter:
Model:

Parameters:
Parameters Values
Steady state error 0.21
Peek overshoot 24.6%
Settling time 5.5 sec
Peek time 1.9 sec
Rise time 1.25 sec
Peek undershoot 4.4 sec
Output waveform of Speed:
With PI Controller:
Parameters:
Parameters Values
Response Time 0.3314 sec
Transient behavior 0.6
Peek overshoot 55.9%
Settling time 3.69 sec
Peek time 1.56 sec
Rise time 0.192 sec
Gain Margin 39.9 dB , 71.8 rad/s
Phase Margin 20.3 dB, 6.04 rad/s
Output waveform of Speed:
With PID Controller:
Model:

Parameters:
Parameters Values
Response Time 0.2545sec
Transient behavior 0.6
Peek overshoot 12.3%
Settling time 0.144sec
Peek time 1.12sec
Rise time 0.17sec
Gain Margin 30.1 dB , 1.22 rad/s
Phase Margin 69 deg, 7.86 rad/s
Output waveform of Speed:
Speed Control of PMDC Motor using PID Controller:
Reference:
Power Electronics by M H Rashid
Chapter No. 14: DC Drives
Example No. : 14.14
Pictures of Reference example:
Page No 01:

Page No 02:
Calculations:
By Hands: