Question

Note that the PDMC is not the Simulink library and it is a subsystem you need to build from the DC Motor model we used in class . Nevertheless, to make things easier, please build the PDMC motor using the attached figure by building and connecting the blocks in this figure. This figure is taken from MATLAB tutorial

Take the motor constants as

R = 2.0;                % Ohms

L = 0.5;                % Henrys

Km = 0.1;               % torque constant

Kb = 0.1;               % back emf constant

Kf = 0.2;               % Nms

J = 0.02;               % kg.m^2/s^2

Note that Td is the load torque that you will need to simulate the motor in loading conditions and Va is the volage supply which will be provided by your controller in closed loop. Note that you will need to do a slight modification on this to show the motor current as in the paper. You will need to look at the DC motor slides and understand the model well to understand where we can get the motor current

1 LsR Js K Armature Load emf

Answer 1

The simulation block diagram is given below.

untitled1 File Edit View Simulation Format Tools Help 10.0 Normal disturbance 0.1 1 0.5s+2 0.02s+0,2 Va Transfer Fon Transfer Fco1 1/0.1 current Scope 1/Kb Kb 0.1 Ready 100% ode45 X

The response is plotted below for the reference Va = 1 and disturbance = 0.1

Scope 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 C 2 10 Time offset: 0 CO