9. (8)
If current is obtained from (8) and substituted in (7) we have…
!
10. # (9)
Then the relation between rotor shaft speed and applied armature voltage is represented by
transfer function:
$
%$
'($)*'+*($*,*+ (10)
This is the transfer function of the DC motor.
Consider the following values for the physical parameters [7,8] Armature inductance () = 0.5 H
Armature resistance () = 1
Armature voltage () = 200 V
Mechanical inertia (J) = 0.01 Kg.m2
Friction coefficient (B) = 0.1 N-m/rad/sec Back emf constant
= 0.01 V/rad/secMotor torque constant = 0.01N.m/ARated speed = 1450 rpmBased on the data
book, the transfer function is as
$
%$
$)*$*-
11. - (11)
3. PROPORTIONAL-INTEGRAL-DERIVATIVE (PID) CONTROLLER
PID controllers are probably the most widely used industrial controller. In PID controller
Proportional (P) control is not able to remove steady state error or offset error in step response. This
offset can be eliminated by Integral (I) control action. Integral control removes offset, but may lead
to oscillatory response of slowly decreasing amplitude or even increasing amplitude, both of which
are error, initiates an early correction action and tends to increase stability of system.
20. O
Usually, initial design values of PID controller obtained by all means needs to be adjusted
repeatedly through computer simulations until the closed loop system performs or compromises as
desired. These adjustments are done in MATLAB simulation.
4. INTERNAL MODEL CONTROL (IMC)
The theory of IMC states that “control can be achieved only if the control system
encapsulates, either implicitly or explicitly, some representation of the process to be controlled”.
The Internal Model Controller is based on the inverse of the process model we are trying to
control. If we cascade the process transfer function with a controller which is the exact inverse of the
process, then effectively the gain becomes unity and we have perfect set-point tracking [10]. The
main feature of internal model controller is that the process model is in parallel with the actual
process.
Figure (2) shows the scheme of IMC. Internal model controller provides a transparent
framework for control system design and tuning.
22. Y@ (14)
And if 0=XW (15)
The model is an exact representation of process, then it is clear that the output will always
equal to set point. Notice that this ideal control performance is achieved without feedback.
4.1 Design of IMC
Designed the IMC controller as
]^ _ !XW#Z` (16)
Where ` is a low pass function defined as
`
*a@b (17)
Here we consider 2nd order low pass filter (n = 2).
Thus,`
*a@) , Where is closed loop time constant[9].
Now, 0
'c($)*'c+*c($*,*c+
$)*$*-
32. e@*- (20)
5. FUZZY LOGIC CONTROLLER (FLC)
The fuzzy controllers are designed with two input variables, error and change of error and
one output variable. The Mamdani based fuzzy inference system uses linear membership function for
both inputs and outputs [11]. For the fuzzy logic controller the input variables are error 2and rate
(change) of errorh2, and the output variable is controller outputh.. Triangular membership
functions are used for input variables and the output variable. Each variable has 7 membership
functions. Thus, there were total 49 rules generated. The universe of discourse of error, rate of error
and output are [-120, 120], [-120,120] and [-180,180] respectively. The rule base framed for DC
motor is tabulated in Table 3[12].
The structure of the rule base provides negative feedback control in order to maintain stability
under any condition. Linguistic variables for error, rate of error and controller output are tabulated
in table 2[13].
Table 2: Linguistic variables
NB Big negative PB Big positive
NM Medium negative PM Medium positive
NS Small negative PS Small positive
Z Zero
Table 3: Rule base for fuzzy logic controller
ce
e
NB NM NS Z PS PM PB
NB NB NB NB NB NM NS Z
NM NB NB NB NM NS Z PS
NS NB NB NM NS Z PS PM
Z NB NM NS Z PS PM PB
PS NM NS Z PS PM PB PB
PM NS Z PS PM PB PB PB
PB Z PS PM PB PB PB PB