ishreen University Journal for Research and Scientific Studies - Engineering Sciences Series Vol No Matlab controllers, DC motors control methods, time response, Performance * ٢١
ishreen University Journal for Research and Scientific Studies - Engineering Sciences Series Vol No he Proportional, Integral, and Differential () Control of Direct Current (DC) Motors Dr Mohsen Daoud * (Received / / ccepted / / ) BSRC he choice of an appropriate control algorithm for dynamic systems has always been a compromise between the quality of control and its cost- hence choosing the simplest control structure It is worth noting that algorithms are widely used in the control systems of DC motors; they are the most useful methods adopted to satisfy control requirements, but they have their own shortcomings his study offers a comprehensive analysis of the response of DC motor control systems along with the presence of disturbance signals and variation in system parameters his research shows the advantages and disadvantages of applying controllers to the closed-loop control of the DC motor he DC motor simulation model in this research provides a fast analysis of motor dynamic behavior In this study, there is a matlab simulation diagram of DC motor control algorithms eywords: controllers, DC motor control methods, time response, performance * ssociate Professor, Department of Mechatronics Engineering, Faculty of Mechanical and Electrical Engineering, ishreen University, Lattakia, Syria ٢٢
ishreen University Journal Eng Sciences Series [ ] [ ] Linear quadratic control method Q,R [ ] adaptive control algorithms Matlab ٢٣
٢٤ i v i R i L d in E c dt d J dt d M L R i i f v b + - J,c E, v in θ M,ω M ) ( ) ( ) ( ) ( 2 R L R s L v E in C s C J J s s v R R L R t d R L in E E E C dt d C C J d C J 2 2
ishreen University Journal Eng Sciences Series Matlab simulink package Matlab Matlab Open-loop system Open-loop system [ ] J= kgm /s, L = H, R = Ω, C= Nms, e =, t =, Pn= W n 2 60 n n 628115 12radl sec,v n = V, n n = rpm, 60 [ ] ( s) ( s) 001 vin s 2 01 014 s 041 Matlab ٢٥
orque Matlab t= s d= Nm t= s V in = V, V n= Pn/n= NM V Closed-loop system ٢٦
ishreen University Journal Eng Sciences Series Proportional control Proportional plus integral control (PI) Proportional plus derivative control (PD) Proportional plus integral and derivative control () DCMotors proportional control (P control) ٢٧
d ( p = ) P DC motor control p=200 Nominal speed Step response Disturbance torque d=0002 Nm ime(sec) P = P = P = Rise ime Overshoot% Settling ime Steady-State Error ٢٨
ishreen University Journal Eng Sciences Series P = ime rise e ss t r d e ss ω d 1 E( s) 1 G P 1 1 P P DC Motors proportional plus integral and derivative control ( control) u e e dt P I D de dt u e P, I, D ٢٩
Matlab,PD,PI PI ( P = ),( I = ) PI motor control P =20, I =10 Nominal speed Step response Disturbance d=0002 Nm ime(sec) PI P =, I = Rise ime Overshoot% Settling ime Steady-State Error ٣٠
ishreen University Journal Eng Sciences Series P =, I = - - P =, I = - - P =, I = PI PD ( P = ),( D = ) PD Rise ime Overshoot% Settling ime % Steady-State Error% P =, D = % ٣١
P =, D = % % P =, D = d= Nm P =, D = d= Nm PD ( P =, ), (I=, ), (D=, ) motor control P =50, I =30, D =7 Nominal speed Step response Disturbance d=0002 Nm ime(sec) ( D [ ] Ziegler-Nichols,Cohen-Coon ( I ٣٢
ishreen University Journal Eng Sciences Series P,PI,PD, P,PI,PD, Rise ime Overshoot Settling ime Steady-State Error P I D P,PI,PD P, I, D ٣٣
[ ] FRNLIN GF, POWEL JD, EMMI-NEINI, Feedback control of dynamic systems ddison-wesley PC, US [ ] SUHIO OG, Modern control engineering hird edition Prentice Hall, US [ ] FRNLIN GF, POWEL JD, WORMN ML, Digital control of dynamic systems ddison-wesley Longman Inc, US, [ ] VOROV VB, LMYOV N, Some questions of design and practical implementation of signal type adaptation systems Energoatomizdat Moscow [ ] MLB, SIMULIN Package, oolboxes, control system Demos [ ] SROM, HGGLUND, controllers: theory, design, tuning US ISBN - ٣٤