Sistemas Automatizados

Structuring Automated Systems Motor Control Introduction The objective of this practice is to simulate the position control loop of a DC motor based on its mathematical model. The simulation will bedone using MATLAB. Theoretical Fundamentals The mathematical model of a DC motor is given by:

Where the armature inductance is La and the armature resistance is Ra. B is the damping factorassociated to the mechanical assembly and J is the Inertia of the rotor and the load. kt is the torque constant that relates armature current and the produced torque. Kv is the speed constant that relatesangular speed and voltage. According to the DC motor, the input is voltage and the output is angular speed. Procedure

Elaborate the following Simulink circuit and simulate it:
-1.976 -0.006372Display1
Signal 1

Display Scope2 1/0.03 s+0.1/0.03 Gain Transfer Fcn1 Gain2 1 s Integrator Scope

PID PID Controller1

PID PID Controller

1/5e-3 s+10/5e-3

-K-

-K-

Signal BuilderTransfer Fcn

Scope3 -KGain1 -0.2372 -1.129e-005 Display2 Display3

For the first controller, use a PI strategy with P=10 and I=0.001. For the second controller use a PID strategy with P=5, I=0.02 yD=0.02. Use the following values: kt=450, kv=0.12, Ra=10 ohms, La=0.005 H, B=0.1 Ns/m, J=0.03 kgm^2. The Gain2 block value is 0.01; this block intends to simulate a transmission system that covertsangular speed to lineal speed. Obtain the output for a Step input and for the following input signal:

1) Repeat the simulation for the following Inertia values: 1Kgm^2 and 3Kgm^2. 2) Repeat thesimulation for the following values: J= 3Kgm^2 y Ra =1 3) Include a saturation block with limit values of 12 y -12 before the voltage input to the motor. Simulate for Ra=10 ohms and J=3Kgm^2 and compareyour results against those obtained in point 1. Analyze the results and try to answer the following questions: What events are intended to be simulated in points 1 and 2? What is it desired to be...