DC Motor Physical Parameters R 5358 Electric Resistance L 3

%DC Motor Physical Parameters R 5.35,8 Electric Resistance L 3 . 93E-6; %Electric Inductance J = 8.75E-6; % Total Moment of Inertia of the Motor -L ad b = 3.867E-6; % Mot r viscus friction constant K = 0.0316 ;% motor torgue constant s = tf ( \'s\') sys-K/ (s* ((J* s+b)*(L*s+R) +K^ 2 )) %open-loop transfer function of the motor t = 0:0.01:10 u 45 *ones (1,1001); y-lsim (sys,u,t) plot (t, y) grid 1400 12000 1000 8000 6000 4000 2000 8 10 PID Kp=5, Ki - 40 Kd = 0.93; sys_1 = feedback (C*sys, 1) ;%Close-loop transfer function of the motor t = 0:0.01:10 u 45*ones (1,1001) plot (t, y) ylabel \'Position, Theta degree) qrid Response 50 40 30 S 20 10 -10 4 10 HOW WE CAN p1 t VOLATGE AND TIME (t,v)

Solution

>> Kp=5

Kp =

5

>> Ki=40

Ki =

40

>> Kd=0.93

Kd =

0.9300

>> c=[Kp,Ki,Kd]

c =

5.0000 40.0000 0.9300

>> R=5.35

R =

5.3500

>> L=3.93E-6

L =

3.9300e-006

>> J=8.75E-6

J =

8.7500e-006

>> b=3.867E-6

b =

3.8670e-006

>> K=0.0316E-6

K =

3.1600e-008

>> num=[K]

num =

3.1600e-008

>> den=[J*L b*L+J*R b*R+K*K 0]

den =

1.0e-004 *

0.0000 0.4681 0.2069 0

>> A=tf(num,den)

Transfer function:
3.16e-008
----------------------------------------------
3.439e-011 s^3 + 4.681e-005 s^2 + 2.069e-005 s
>> sys_1=feedback(A*c,1)

>> t=0:0.01:10;
>> u=45*ones(1,1001)

u =

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45 45

>> y=lsim(sys_1,u,t)