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    Lab 11 (1)

    Uploaded by

    Ameer Hamza
    Milling

    Copyright:

    © All Rights Reserved
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    Lab 11 (1)

    Uploaded by

    Ameer Hamza
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    Milling

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    © © All Rights Reserved

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    DOCX, PDF, TXT or read online from Scribd

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    Milling

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    2 views5 pages

    Lab 11 (1)

    Uploaded by

    Ameer Hamza
    Milling

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
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    Control Engineering Lab

    Experiment No 11:
    Build mathematical model for DC servo motor with the experiment
    and Stability Analysis

    OBJECTIVE
     Understand the basic procedures to build model with mechanism method and
    experiment method
     Master the method to build mathematical model for DC servo motor with the
    experiment method
     Master the basic method to control the system stability analysis
    THEORY
    System modeling may be divided into two categories: mechanism modeling and
    experiment modeling. Mechanism modeling means to establish the internal input-output relations
    of a system via mathematical means based on physics and chemistry knowledge, as well as the
    understanding of the motion characteristics. While experiment modeling refers to the input-
    output relations of a system via mathematical means, which is built after the researchers enter a
    series of input signal determined in advance on the object to stimulate such and the observable
    output is measured through the sensor. This process covers the design and selection of input
    signal, accurate measurement of output signal, and the study of mathematical algorithms etc.

    The mathematical model for DC servo motors built with mechanism method:

    When the armature voltage of the DC motor is changed, the


    differential equation of the DC motor dynamic process is
    2
    d n (t) dn(t)
    τ m τe 2
    + τm + n(t)=K c U a−k f T c
    dt dt
    Where, the τ e is electromagnetic time constant, τ m is mechanical time constant, K c
    is revolving speed constant, k is mechanical property slope, U a is armature voltage,
    f

    n(t) is motor revolving speed, and T c is load torque. If the motor is assumed to be
    under ideal idle load T c =0, the transfer function shall be

    n(s) Kc
    =
    U ( s) τ m τ e s + τ m s+1
    2

    In general, about the DC servo motor τ e ≪τ m

    n(s) Kc
    =
    U ( s) τ m s+ 1

    In general, about the DC servo motor τ e ≪τ m

    Department of Mechanical Engineering, Air University A&AC Kamra 1


    Control Engineering Lab

    n(s) Kc
    =
    U ( s) τ m s+ 1

    The mathematical model for DC servo motor built with experiment method:
    The experiment
    method is used to measure the mathematical model of the first-order inertial loop, and the
    second-order system, it meets the accuracy for general industrial application. The mathematical
    model of firs-order system - DC motor is listed for establishment process below.
    Assume that the mathematical model of the object system is

    In the experiment determination method applying mathematical model, the two-point method
    with delayed first-order inertia loop fitting, the parameters K, T,τ can be determined

    ¿
    y ( t 1 )=0.39 y (∞)
    ¿
    y ( t 2 )=0.63 y (∞)
    y (∞)
    K=
    Ua

    Figure 1

    T =2 ( t 2−t 1 )
    τ =2t 1−t 2

    The data obtained from formulas above may be verified in the formula below:
    ¿
    t 3=0.8 T + τ , y ( t 3 ) =0.55 y (∞ )
    ¿
    t 4=2 T + τ , y ( t 4 )=0.87 y (∞)

    Department of Mechanical Engineering, Air University A&AC Kamra 2


    Control Engineering Lab

    Lab Tasks
    Execute the following task on both hardware and Matlab Simulink.
    a. Consider the open loop DC servo motor, apply step input to the real time Dc motor servo
    system. Build mathematical model for DC servo motor with the experiment method.
    Record the percent overshoot, settling time, peak time, and rise time.

    Mathematical Model

    Simulink Model

    Department of Mechanical Engineering, Air University A&AC Kamra 3


    Control Engineering Lab

    Step Response

    Experimental Response

    Department of Mechanical Engineering, Air University A&AC Kamra 4


    Control Engineering Lab

    Conclusion

    Department of Mechanical Engineering, Air University A&AC Kamra 5

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