example of controller (pi) design using matlab/simulink
DESCRIPTION
Using MATLAB/SIMULINK to design a simple PI controller for DC motor driveTRANSCRIPT
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60
Vd Va
Tl
speed
T
Ia
SubsystemStep1
Step
PID
PID Control ler1
PID
PID Control ler
Output Point
Input Point
0.2
1/Vt
Bode Diagram
Frequency (rad/sec)
10-3
10-2
10-1
100
101
102
103
104
-90
-45
0
45
90
Pha
se (
deg)
-60
-50
-40
-30
-20
-10
0From: dc
m2
linear
small/Sum1 (pt. 1) To: Subsystem (pt. 2)
Mag
nitu
de (
dB)
Pole-Zero Map
Real Axis
Imag
inar
y A
xis
-350 -300 -250 -200 -150 -100 -50 0-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1
=(,> ($%!&'9
< 1"1 <
;8# ;?+#
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90,19 ,#-77(&9 *<1 (" =(-
Bode Diagram
Frequency (rad/sec)
10-3
10-2
10-1
100
101
102
103
104
105
-90
-45
0
45
90
Pha
se (
deg)
-100
-80
-60
-40
-20
0
20From: dc
m2
linear
small/Sum1 (pt. 1) To: Subsystem (pt. 2)
Mag
nitu
de (
dB)
=(->90,90,#-779
==(- 5 (
<-77# 19 ( 19 <-77# ($ ;(;93<0,(7A6,7?# 1 AB(;
"(= 19 ,7AB#-70+(B6,7;("< ((-77# 1 ( =(;(
@
!
"
Bode Diagram
Frequency (rad/sec)
10-3
10-2
10-1
100
101
102
103
104
105
-90
-45
0
45
90
Pha
se (
deg)
-100
-50
0
50
100From: dc
m2
linear
small/Sum1 (pt. 1) To: Subsystem (pt. 2)
Mag
nitu
de (
dB)
=(;' +B(;6,7; ,(7A6,7?# (
!
51 ((;773<(" 1 5 1 ( % 61 "
4($99 =(?(=(? " ( = 551
( 51 5 (
1
torque-loop
PID
speed_controller
PID
speed controller
PID
current controller
60
Vd Va
Tl
speed
T
Ia
SubsystemStep1
0.2
1/Vt
In1Out1
1/(sJ +B)1
In1Out1
1/(sJ +B)
90+B(;6,7;
#
Bode Diagram
Frequency (rad/sec)
10-2
10-1
100
101
102
103
104
105
106
-180
-135
-90
-45
0
Pha
se (
deg)
-100
-50
0
50
100
Mag
nitu
de (
dB)
=(?$ (561"
65 7(788# (< 51
;?" 5-9# =(2(" =(21 ;?"( <
(
Bode Diagram
Frequency (rad/sec)
10-2
10-1
100
101
102
103
104
105
106
-135
-90
-45
0
Pha
se (
deg)
-50
0
50
100
150From: Sum4 (pt. 1) To: dc
m2
linear
small/Transfer Fcn (pt. 1)
Mag
nitu
de (
dB)
5
"#!
$
Bode Diagram
Frequency (rad/sec)
10-2
10-1
100
101
102
103
104
105
106
-180
-135
-90
-45
0
Pha
se (
deg)
-100
-50
0
50
100
150From: Sum4 (pt. 1) To: dc
m2
linear
small/Transfer Fcn (pt. 1)
Mag
nitu
de (
dB)
=(2 < 7(788# 91 ;?"-9#
<.
9 9
5. ??(2 +B777
$. 7(;7; 7(7-
($%!&'9 =(8(%
( 5 ±27# +3< 5 -&( 5 =(
8(
vc_m
To Workspace4
vc
To Workspace3
vtri
To Workspace2
torque
To Workspace1
speed
To Workspace
Out1
Subsystem1
Va
Tl
speed
T
Ia
Subsystem
Step1
SignalGenerator
Saturation1
Relay1
Relay
PID
PID Controller1
PID
PID Controller
-1
Gain
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35-100
-50
0
50
100
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35-4
-2
0
2
4
%
=(8! $99 $
5