Team GreenTeam GreenSpeed Control - Speed Control -

Steady State Performance and Step Steady State Performance and Step ResponseResponse

John BarkerJohn Barker

John BeverlyJohn Beverly

Keith SkilesKeith SkilesENGR 329

UTC

2/1/06

OutlineOutline

Background of Aerator Mixer Speed Background of Aerator Mixer Speed Control SystemControl System

SSOC ResultsSSOC Results Step Response ResultsStep Response Results ConclusionsConclusions

Aerator Mixer Speed Control Aerator Mixer Speed Control SystemSystem

Block Diagram of SystemBlock Diagram of System

1

s

Ke sto

Operation at 100%

0

200

400

600

800

1000

1200

1400

1600

1800

2000

0 1 2 3 4 5 6 7 8 9 10

Time (sec)

Output Speed

(

rpm

)

SSOC CalculationsSSOC Calculations

Input Motor Power (%)

Output Drive Speed (rpm)

Uncertainity (± rpm)

10 158 5.78

20 334 4.21

30 508 3.09

40 682 2.33

50 856 2.16

60 1031 2.32

70 1204 1.99

80 1371 3.91

90 1539 4.51

100 1707 4.43

SSOC

0

200

400

600

800

1000

1200

1400

1600

1800

2000

0 20 40 60 80 100

Input Motor Power (%)

Output Drive

Speed (rpm)

Base 70% Step 10%

6870727476788082

4.4 4.6 4.8 5 5.2 5.4 5.6 5.8 6

Time (sec)

MI (%)

1150

1200

1250

1300

1350

1400

Speed (rpm)

Base 50% Step -10%

35

40

45

50

55

4.4 4.6 4.8 5 5.2 5.4 5.6 5.8 6

Time (sec)

MI (%)

650700750800850

Speed (rpm)

Base 10% Step 10%

0

5

10

15

20

25

0 5 10

Time (sec)

MI (%)

0

100

200

300

400

MO (rpm)

Base 70% Step 10%

1200

1250

1300

1350

1400

4.5 4.7 4.9 5.1 5.3 5.5 5.7 5.9

Time (sec)

Speed(rpm)

ΔC

0.623 ΔC

Tau

to

Step Response Values and ErrorsStep Response Values and Errors

to (sec) Tau (sec) K (rpm/%)Average 0.1 0.2 17.1

Error 0.01 0.02 0.63

SummarySummary

Operating Range (0-100%) Input and Operating Range (0-100%) Input and (150-1700 rpm) Output(150-1700 rpm) Output

First Order Plus Dead Time ModelFirst Order Plus Dead Time Model

12.0

1.17 1.0

s

e s

Questions?Questions?