SERVO MOTOR PD CONTROLLER DESIN LAB

2.1751
𝐻𝑝(𝑠) = 𝑠(𝑠+2.2998)----------------------------------- eq (01)

1 9.45𝑠+34.6
𝐻𝑝(𝑠) = 5.92 ∗ 𝑠(𝑠2 +4.51𝑠+6.53)----------------------------------- eq (02)

Part (1)
Find Kp_Max>Kp<Kp_Min and Kv_Max>Kv<Kv_Min for eq(01) and eq(02) for the
system shown?

For eq (01) Kv_Max>Kv<Kv_Min

We know for parallel Compensator

𝐾𝑣 = limit 𝑠→0 𝑆𝐻𝑝(𝑠)

𝑠2.1751
𝐾𝑣 = limit 𝑠→0
𝑠(𝑠 + 2.2998)
𝐾𝑣 = 0.94578
0.9458 > 𝐾𝑣 > 0
For eq (01) Kp_Max>Kp<Kp_Min

At Kv= 0.9458 eq (01) becomes

𝑄𝑒 2.1751
=
𝑄𝑣 𝑠(𝑠 + 4.357)
By adding Kp
𝑄𝑒 2.1751 ∗ 𝐾𝑝
=
𝑄𝑝 𝑠(𝑠 + 4.357)

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 SERVO MOTOR PD CONTROLLER DESIN LAB

𝑄𝑒 𝐾𝑝 ∗ 2.1751
=
𝑄𝑝 𝑠(𝑠 + 4.357)
For negative feedback system Kp>0
𝐾𝑝 ∗ 2.1751
1+ =0
𝑠(𝑠 + 4.357)
By solving for Kp
−𝑠(𝑠 + 4.357)
𝐾𝑝 = − − − − − − − − − (03)
(2.1751)
𝑑𝑘𝑝
=0
𝑑𝑠
𝑑𝐾𝑝 𝑑 −𝑠(𝑠 + 4.357)
= ( − − − − − − − − − (04))
𝑑𝑠 𝑑𝑠 (2.1751)

By solving (04)

𝑆 = −2.1785
Putting value of s into (03)

𝐾𝑝 = 2.18190
S0
5 > 𝐾𝑝 > 2.18190
For eq (02) Kv_Max>Kv<Kv_Min

We know for parallel Compensator

𝐾𝑣 = limit 𝑠→0 𝑆𝐻𝑝(𝑠)

1 𝑠(9.45𝑠 + 34.6)
𝐾𝑣 = limit 𝑠→0 ∗
5.92 𝑠(𝑠 2 + 4.51𝑠 + 6.53)
𝐾𝑣 = 0.89504
0.89504 > 𝐾𝑣 > 0

For eq (02) Kp_Max>Kp<Kp_Min

At Kv= 0.89504 eq (01) becomes

𝑄𝑒 2.1751
=
𝑄𝑣 𝑠(𝑠 + 4.357)
By adding Kp
𝑄𝑒 (9.45𝑠 + 34.67) ∗ 𝐾𝑝
=
𝑄𝑝 (5.92𝑠 3 + 27.54𝑠 2 + 69.689𝑠)
For negative feedback system Kp>0

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 SERVO MOTOR PD CONTROLLER DESIN LAB

(9.45𝑠 + 34.67) ∗ 𝐾𝑝
1+ =0
(5.92𝑠 3 + 27.54𝑠 2 + 69.689𝑠)
By solving for Kp

−(5.92𝑠 3 + 27.54𝑠 2 + 69.689𝑠)

𝐾𝑝 = − − − − − − − − − (03)
(9.45𝑠 + 34.67)
𝑑𝑘𝑝
=0
𝑑𝑠
𝑑𝐾𝑝 𝑑 −(5.92𝑠 3 + 27.54𝑠 2 + 69.689𝑠)
= ( − − − − − − − − − (04))
𝑑𝑠 𝑑𝑠 (9.45𝑠 + 34.67)

By solving (04)

𝑆1 = −5.41 𝑆2,3 = −1.2 ± 1.59𝑖

Putting value of s1 into (03)

𝐾𝑝 < 30
S0
0 < 𝐾𝑝 < 30

PART (2) MATLAB Code to Compute the Poles and Mark the stable point with Dot.

For eq (01)
%%%%% select 0<Kv<0.94578
%%%%%% select 2.1819<Kp<5
%%%%%%%%%%%%%%% we have to mark the stable region in range of Kp and Kv.
Kv=0:0.1:0.94578;
Kp=2.1819:0.3:5;
for i=1:length(Kv)
num=[2.1751*Kp(i)];
dem=[1 2.2998+2.1751*Kv(i) 2.1751*Kp(i)];
Qe(i)=tf(num,dem)
r=pole(Qe(i));
if (r<=0)
A(:,i)=r %%%%%%%%% if value r is less then zero store it In A
else
s=0 %%%%%%%%%5 if value r is greater then zero store it In s
end
end
Z=[]
P=A.'; %%%%%%%%% plot the poles stored in A and
mark them blue
[b,a]=zp2tf(Z,P,1)
s=tf(b,a)s
pzmap(s,’b’)

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 SERVO MOTOR PD CONTROLLER DESIN LAB

Output

Representing Poles in stable region with Blue color

For eq (02)
%%%%% select 0<Kv<0.89504
%%%%%% select 2.1819<Kp<5
%%%%%%%%%%%%%%% we have to mark the stable region in range of Kp and Kv.
Kv=0:0.1:0.89504;
Kp=0:3.33334:30;
for i=1:length(Kv)
num=[9.45*Kp(i) 34.67*Kp(i)];
dem=[5.92 26.699+9.45*Kv(i) 38.6576+34.67*Kv(i)+9.45*Kp(i) 34.67*Kp(i)];
Qe(i)=tf(num,dem)
r=pole(Qe(i));
if (r<0)
A(:,i)=r %%%%%%%%% if value r is less then zero store it In A
else
s=0 %%%%%%%%%5 if value r is greater then zero store it In s
end
end
Z=[]
P=A.’; %%%%%%%%% plot the poles stored in A and
mark them blue
[b,a]=zp2tf(Z,P,1)
s=tf(b,a)
pzmap(s,’b’)
Ouput

Representing Poles in stable region with Blue color

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 SERVO MOTOR PD CONTROLLER DESIN LAB

Part (3) Stability Analysis Using Ruth-Horowitz

For eq (01) Kv_Max>Kv<Kv_Min

𝑄𝑒 2.1751
=
𝑄𝑣 𝑠(𝑠 + 2.2998) + 2.1751𝑠 ∗ 𝐾𝑣
Using close Loop Analysis for Ruth Method

𝑠(𝑠 + 2.2998) + 2.1751𝑠 ∗ 𝐾𝑣 = 0

rhTable =

1 0

2.2998+2.1751*Kv 0 --(05)

0 0

From (05)

2.2998+2.1751*Kv =0

0 < 𝐾𝑣 < 1.057

For eq (01) Kp_Max>Kp<Kp_Min

𝑄𝑒 2.1751
= 𝐾𝑝 ∗
𝑄𝑝 𝑠(𝑠 + 5.2901)

𝑄𝑒 𝐾𝑝 ∗ 2.1751
=
𝑄𝑖 𝑠(𝑠 + 5.2901) + 𝐾𝑝 ∗ 2.1751

𝑠(𝑠 + 4.357) + 𝐾𝑝 ∗ 2.1751

Using close Loop Analysis for Ruth Method

rhTable =

77 Kp*2.1751

5.2901 0 --(05)

2.1751*kp 0

From (05)

𝐾𝑝 > 0
For eq (02) Kv_Max>Kv<Kv_Min

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 SERVO MOTOR PD CONTROLLER DESIN LAB

𝑄𝑒 (9.45𝑠 + 34.67)
=
𝑄1 (5.92𝑠 + (26.6992 + 9.45𝐾𝑣)𝑠 2 + (34.67𝐾𝑣 + 38.658)𝑠)
3

rhTable =

5.92 34.67𝐾𝑣 + 38.658

26.6992 + 9.45𝐾𝑣 0

34.67𝐾𝑣 + 38.658 0

0 < 𝐾𝑣 < 1.114797

For eq (02) Kp_Max>Kp<Kp_Min

Let 𝐾𝑣 = 1.114797

𝑄𝑒 (9.45𝑠 + 34.67) ∗ 𝐾𝑝
=
𝑄1′ (5.92𝑠 3 + (26.6992 + 9.45𝐾𝑣)𝑠 2 + (34.67𝐾𝑣 + 38.658)𝑠)

𝑄𝑒 (9.45𝑠 + 34.67) ∗ 𝐾𝑝
=
𝑄𝑖 (5.92𝑠 + (37.2342)𝑠 2 + (9.45𝐾𝑣 + 77.308)𝑠) + 34.67𝐾𝑝
3

rhTable =

5.92 9.45𝐾𝑣 + 77.308

37.2342 34.67Kp

77.308 + 3.9376𝐾𝑝 0

0 < 𝐾𝑝 < 19.63

Comparison result between Step2 stable region vs Ruth_Horowitz

For step2 I have used root locus method to find Kp and Kv .

We know that Ruth method is extracted from root locus but it’s only given the possible region of
stability. Routh-Hurwitz is the method to find the roots of the characteristic equation and verify the
stability of the system. Root locus is the use of Routh-Hurwitz for different controller gains and then
you can choose the controller gain according to the stability criterion.

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 SERVO MOTOR PD CONTROLLER DESIN LAB

According to step2 the performance parameters is more better like rise time, damping, settling time
etc. if we go towards Ruth Method the performance parameters is less better like rise time,
damping, settling time etc. according to step2.

Part (4)

For T.F (01)

At Kv=0.94578; and Kp=3.5;

7.613
T.F =-----------------------------------------------------------------------------for Eq(1)
s^2 + 4.357 s + 7.613
we know for 2nd order Equation
𝑤𝑛2 7.613
2 =
𝑠 2+2£𝑤𝑛+𝑤𝑛 s2 + 4.357 s + 7.613
By comparing above
𝑤𝑛 = 2.759 and £ = 0.7895 ( 𝑢𝑛𝑑𝑒𝑟_𝑑𝑎𝑚𝑝𝑒𝑑 )

a) Stead state error

Error=0.0018

b) Max Overshoot
£
−(( )∗𝜋)
𝑀𝑝 = 𝑒 √1−£2
𝑀𝑝 = 1.756%
c) Max settling time
4
Ts = (2%)
£ ∗ wn
Ts = 1.836s

3
Ts = (5%)
£ ∗ wn

Ts = 1.3771s

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 SERVO MOTOR PD CONTROLLER DESIN LAB

Output

For T.F (02)

At Kv=0.94578; and Kp=3.5;

33.07 s + 121.3
--------------------------------------------------- (01)
5.92 s^3 + 35.63 s^2 + 104.5 s + 121.3
we know for higher order analysis
(𝑆 + 𝑃)(𝑆 2 + 2£𝑤𝑛 ∗ 𝑆 + 𝑤𝑛2 ) = s^3 + 6.02 s^2 + 17.6 s + 20.49

By comparing above
2£𝑤𝑛 + 𝑝 = 6.02 − − − − − −(01)
2£𝑤𝑛𝑝 + 𝑤𝑛2 = 17.65 − − − (02)
𝑝𝑤𝑛2 = 20.49 − − − − − − − −(03)
By solving above equation and putting into (02)
P=2.227

𝑤𝑛 = 3.20 and £ = 0.77 ( 𝑢𝑛𝑑𝑒𝑟_𝑑𝑎𝑚𝑝𝑒𝑑 )

a) Stead state error

Error=0.0019

b) Max Overshoot
£
−(( )∗𝜋)
𝑀𝑝 = 𝑒 √1−£2
𝑀𝑝 = 2.2365%

pg. 8
 SERVO MOTOR PD CONTROLLER DESIN LAB

c) Max settling time

4
Ts = (2%)
£ ∗ wn
Ts = 1.650s
3
Ts = (5%)
£ ∗ wn
Ts = 1.200s
Output

Part (05)
For eq (01)

%%%%% select Kv=0.94578

%%%%%% select Kp=3.5
%%%%%%%%%%%%%%% we have to mark the stable region in range of Kp and Kv.
Kv=0:0.1:0.94578;
Kp=2.1819:0.3:5;
for i=1:length(Kv)
num=[2.1751*Kp(i)];
dem=[1 2.2998+2.1751*Kv(i) 2.1751*Kp(i)];
Qe(i)=tf(num,dem)
r=pole(Qe(i));
if (r<=0)
A(:,i)=r %%%%%%%%% if value r is less then zero store it In A
else
s=0 %%%%%%%%%5 if value r is greater then zero store it In s
end
end
Q2=tf([7.613],[1 4.357 7.613])
P2=pole(Q2)
Z=[]
P=A.'; %%%%%%%%% plot the poles stored in A and
mark them blue
[b,a]=zp2tf(Z,P,1)

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 SERVO MOTOR PD CONTROLLER DESIN LAB

s=tf(b,a);
if(P2==a)
pzmap(s,'b',Q2,'r')
else
pzmap(s,'b')
end

Output

Point isn’t in the region indicating the point position

For eq (02)
%%%%% select Kv=0.94578
%%%%%% select Kp=3.5
%%%%%%%%%%%%%%% we have to mark the stable region in range of Kp and Kv.
Kv=0:0.1:0.89504;
Kp=0:3.33334:30;
for i=1:length(Kv)
num=[9.45*Kp(i) 34.67*Kp(i)];
dem=[5.92 26.699+9.45*Kv(i) 38.6576+34.67*Kv(i)+9.45*Kp(i) 34.67*Kp(i)];
Qe(i)=tf(num,dem)
r=pole(Qe(i));
if (r<0)
A(:,i)=r %%%%%%%%% if value r is less then zero store it In A
else
s=0 %%%%%%%%%5 if value r is greater then zero store it In s
end
end
Kv1=0.94578 ;
Kp1=3.5;
num1=[9.45*Kp1 34.67*Kp1];
dem1=[5.92 26.699+9.45*Kv1 38.6576+34.67*Kv1+9.45*Kp1 34.67*Kp1];
Q2=tf(num1,dem1)
P2=pole(Q2)
Z=[]
P=A.'; %%%%%%%%% plot the poles stored in A and
mark them blue
[b,a]=zp2tf(Z,P,1);
s=tf(b,a);
if(P2==a)
pzmap(s,'b',Q2,'r')
else
pzmap(s,'b')
end

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 SERVO MOTOR PD CONTROLLER DESIN LAB

Output

Point isn’t in the region indicating the point position

Part (06)

For eq (01) Kv & Kp

𝑄𝑒 2.1751 ∗ 𝐾𝑝
= − − (01)
𝑄𝑖 𝑠(𝑠 + 2.2998) + 2.1751𝑠 ∗ 𝐾𝑣 + 2.1751 ∗ 𝐾𝑝
Second order equation

𝑤𝑛2
2 − − − − − − − − − − − (02)
𝑠 2+2£𝑤𝑛+𝑤𝑛

To satisfy the criteria

𝑤𝑛2 7.613
2+2£𝑤𝑛+𝑤𝑛2
=
𝑠 s2 + 4.357 s + 7.613
By comparing above
𝑤𝑛 = 2.759 and £ = 0.7895 ( 𝑢𝑛𝑑𝑒𝑟_𝑑𝑎𝑚𝑝𝑒𝑑 )
From Eq (01) & Eq (02)
𝑤𝑛2 = 2.1751 ∗ 𝐾𝑝

𝐾𝑝 = 3.500008

2£𝑤𝑛 = 𝑠((2.2998) + 2.1751 ∗ 𝐾𝑣)

𝐾𝑣 = 0.945548
For eq (02) Kv & Kp

s 3 + s 2 (4.52 + 1.59Kv) + s(6.53 + 5.86Kv + 1.596Kp) + 5.8kp

= s^3 + 6.02 s^2 + 17.6 s + 20.49 − − (01)

By comparing (01) as we did in part04

4.52 + 1.59Kv = 6.02

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 SERVO MOTOR PD CONTROLLER DESIN LAB

6.53 + 5.86Kv + 1.596K = 17.6

5.8kp = 20.49
By solving above

kp = 3.53
Kv = 0.94

Part (07)

Step response extended motor model at kp = 3.53and Kv=0.94

Yes, it satisfies the criteria as in step4

pg. 12
 SERVO MOTOR PD CONTROLLER DESIN LAB

Step criteria

No, this point doesn’t lie in the feasibly range

Point isn’t in the region indicating the point position

pg. 13
 SERVO MOTOR PD CONTROLLER DESIN LAB

Part (08)

Performance parameter’s and T.F

Step response

pg. 14
 SERVO MOTOR PD CONTROLLER DESIN LAB

Location of points

Values of parameters at Point’s

Part (09):

First of all I connected all the probes of the servo motor i.e. feedback, power etc. to the
trainer board.
Error in the motor is scaled by position loop proportional gain Kp to create the velocity
command Vc. It is usually created by differentiating the position feedback signal.

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 SERVO MOTOR PD CONTROLLER DESIN LAB

So y setting the above given Kp and Kv we were setting the velocity and position values of
the servo motor and it shows that these two are the controlling parameters of the motor.

Kv=0.94578
Kp=3.5
Step response is the step input response of the servo motor when the input is excited by a
step function.
Steps:
Zero set nobe minimizes the amplifier and minimizes the current i.e. there is no signal in the
op-amp and must be in off position.
Feedback signal has to be removed and we measure the voltage at the output.
Servo Output amp Nobe connects to the output position feedback.
P1 and P2 set the designed values of Kp and Kv.
Step response can be recorded as required.
Performance perimeters of the servo motor is measured and computed are given below:
Torque
Speed
Overload Time
Resolution
Frequency Response
Given Kp and Kv are set and the input voltage is set to 6V. The speed and torque of the
motors are the main satisfying criteria of the motor to be satisfied and by the given values
the position value and velocity of the motor satisfy the given criteria. There is slightly change
in the settling time and overshoot but it is acceptable as the computed values are slightly
greater than the actual values.
Overshoot is 63% and Settling Time is 3.4 seconds.

pg. 16