REPORT ON CONTROL SYSTEM
LABORATORY ELP800
Analog Motor control - Identification and Speed Control
Submitted by Group No: 1B
1. Srinivasan Krishnan
2024EEA2843
2. Siraz Ahmad
2024EEA2889
3. Anvisha Chaturvedi
2024EEA2011
Under the guidance of
Prof. SUBASHISH DATTA
In partial fulfillment of the requirements
for the award of the degree of
Master of Technology
Department of Electrical Engineering
INDIAN INSTITUTE OF TECHNOLOGY DELHI
October 2024
Contents:
1. Experiment 5: Analog DC Motor System: Identification and Speed Control – System
Modelling .............................................................................................................................................3
1.1 Objective:.............................................................................................................................3
1.2 Specification: .......................................................................................................................3
1.3 Method Used: ......................................................................................................................3
1.4 Experimental setup:............................................................................................................4
1.5 System Modelling: ..............................................................................................................4
1.5.1 Gain Computation: .....................................................................................................4
1.5.2 Time Constant Computation: ....................................................................................5
1.5.3 Open Loop Transfer function of DC motor:.............................................................5
1.6 Controller Design for Actual Implementation: ................................................................6
2.0 Actual Implementation: ...............................................................................................................8
2.1 Block Diagram for controller: .................................................................................................9
2.2 Response with Analog controller:............................................................................................9
2.3 Comparison the step response with MATLAB: .....................................................................9
3.0 Conclusion:..................................................................................................................................10
1. Experiment 5: Analog DC Motor System: Identification and
Speed Control – System Modelling
1.1 Objective:
The following objectives were met for the DC motor System model Technics
Infosolutions Experimental setup.
(a) To determine the time constant of the given DC motor model
(b) To determine the gain of the system.
(c) To compute the open loop transfer function.
(d) To design an Analog controller for Speed control of the given DC motor system
using Op Amp 741 and Analog Circuit elements like Resistor, Capacitors by
realising the circuit on Bread Board circuit.
1.2 Specification:
(a) DC motor System model Technics Infosolutions Experimental setup
(b) Op Amp 741
(c) Tektronix Digital Signal Oscilloscope
(d) Function generator FG601
(e) System Power 90
(f) Analog elements – Resistors, Capacitors, Rotary Potentiometers, Bread board
1.3 Method Used:
1. Make the DC motor connections to the to the power supply unit, function
generator and oscilloscope as shown in the figure.
Fig 1: Circuit connection
2. Apply square wave input to the DC motor.
3. Adjust the frequency from function generator to be around 0.1 Hz
4. Observe the output obtained from the oscilloscope
5. Calculate the transfer function of the DC motor from the obtained output
1.4 Experimental setup:
Fig2: DC MOTOR OPEN LOOP RESPONSE
1.5 System Modelling:
To determine the Transfer function of the DC motor, Gain and Time constant were
computed as below:
1.5.1 Gain Computation:
The Ratio of Steady state speed and Input Voltage gives Gain of the DC motor.
Input voltage = 2.72 + 2.64 = 5.36
𝑂𝑢𝑡𝑝𝑢𝑡 𝑣𝑜𝑙𝑡𝑎𝑔𝑒 = 4
𝑉 𝑜𝑢𝑡
𝐾= = 0.746
𝑉 𝑖𝑛
Fig3: Input Voltage Computation
Fig3: Output Voltage Computation
1.5.2 Time Constant Computation:
In order to evaluate the Time Constant, a Step input is given to the system and output plot
is obtained from Digital Signal Oscilloscope. Time constant is found from DSO using the
formula mentioned below.
Time Constant = 63.2% Peak Speed = 320 ms
Fig 4: Time Constant Computation from DSO
1.5.3 Open Loop Transfer function of DC motor:
The Open Loop Transfer Function is represented as below
𝐾
𝐺 (𝑠 ) =
𝜏𝑠+1
𝐾 = 0.746 , 𝜏 = 320 𝑚𝑠
Fig 5: Open Loop Transfer Function of DC Motor
1.6 Controller Design for Actual Implementation:
The below illustrated picture is the desired Controller Block diagram for DC motor
system:
Fig 6: Desired Characteristics of Controller for DC Motor
The transfer function of the system can be computed as follows –
𝐾𝑝 𝑠+𝐾𝑖
Transfer function of controller =
𝑠
𝐾
Transfer function of Plant =
𝑠𝑇+1
Feedback Gain = 1
(𝐾𝑝 𝑠+𝐾𝑖 ) 𝐾
Closed Loop transfer function = 2
𝑠 𝑇+𝑠( 1+ 𝐾𝑝 𝐾)+ 𝐾𝑖 𝐾
Target Parameters: Ts < 0.5 sec and damping > 0.707, For controller design
to achieve above objectives, utilized root locus methodology in MATLAB as
shown below:
Fig 7: Root locus based controller design
Using MATLAB, values of Kp = 6.8 and Ki = 40 were obtained
Fig 8: Designed controller
Response of step input on MATLAB was obtained as shown below:
Fig 9: Achieved desired step response
2.0 Actual Implementation:
The following hardware equipment were used in the hardware implementation of PI
controller -
1. Breadboard
2. Op-Amp Lu- 741
3. Resistors
4. Rheostats
5. Capacitors
6. Connecting Wires
Final Circuit after connection contains a controller which is designed using kp and kI values
which we got through MATLAB,
For analog controller implementation three breadboards are used given as below:
➢ On breadboard 1 implemented the subtractor for calculating error signal, also
implemented proportional controller.
➢ On second breadboard implemented integrator along with proportional controller.
➢ On third breadboard implemented subtractor.
Fig 10: Designed Controller on Analog Circuit
2.1 Block Diagram for controller:
Fig 11: Block diagram
2.2 Response with Analog controller:
The step response of system is plotted using oscilloscope as shown below:
Fig 12: Step Response of system with Analog controller
2.3 Comparison the step response with MATLAB:
The desired step response with controller is first evaluated through simulation using
MATLAB as shown in figure 9. The results from simulation closely matches the step
response of system with Analog controller implemented using breadboard as shown
in figure 12. The settling time of system is reduced from 1.25 sec (open loop settling
time) to 0.49 sec.
3.0 Conclusion:
➢ Carried out the DC motor system identification using oscilloscope. The
transfer function of plant is computed as below
𝐾
𝐺(𝑠) =
𝜏𝑠 + 1
𝐾 = 0.746 , 𝜏 = 150 𝑚𝑠
➢ Designed controller using MATLAB, by root locus method, evaluated the
gains for PI controller.
𝐾𝑝 = 6.8 , 𝐾𝑖 = 40
➢ Implemented the controller using Analog circuit on breadboard.
➢ With the analog controller, step response of the closed loop system is
obtained, which gives desired performance.
➢ Experimental Setup:
Fig 12: Final setup with controller
