Control Tutorials For MATLAB and Simulink - Motor Position - Simulink Control

5/8/2019 Control Tutorials for MATLAB and Simulink - Motor Position: Simulink Control
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INTRODUCTION CRUISE CONTROL MOTOR SPEED
SYSTEM
MODELING DC Motor Position:

ANALYSIS Simulink Controller Design
CONTROL
PID Related
Tutorial
ROOT LOCUS Links
Control w/
FREQUENCY
Simulink
STATE-SPACE
DC Motor
DIGITAL Activity
Related
SIMULINK External
Links
MODELING
Simulink
CONTROL Motor
Control
Video
Modeling
Challenges
Video
Contents
Open-loop response
Extracting a linear sampled model into MATLAB
Implementing digital control in Simulink
Converting a continuous-time model to discrete-time within Simulink
In the DC Motor Position: Simulink Modeling section, we developed a
Simulink model of the DC motor system using three different methods. You
can download one of these models by right-clicking here and then selecting
Save link as. In this section, we will employ this model within Simulink to
ctms.engin.umich.edu/CTMS/index.php?example=MotorPosition&section=SimulinkControl 1/13
simulate and design different approaches to control. Specifically, we will
explore the design of a digital control system.
Open-loop response
Begin with the above model saved as a subsystem and follow the steps
given below.
Remove the In and Out ports.
Insert a Step block from the Simulink/Sources library and connect it
with a line to the Voltage input.
To view the output position, insert a Scope from the Simulink/Sinks
library and connect it to the Position output.
To provide an appropriate unit step input at t=0, double-click the Step
block and set the Step time to "0".
The system should now appear as in the following figure.
In order to simulate this system, the details of the simulation must first be
set. This can be accomplished by selecting Model Configuration
Parameters from the Simulation menu. Within the resulting menu, define
the length for which the simulation is to run in the Stop time field. We will
enter "0.2" since 0.2 seconds will be long enough for the step response to
reach steady state. Also in the Configuration Parameters dialog box, the
numerical solver employed in the simulation can be specified. Go ahead
and change the Solver field from the default ode45 (Dormand-Prince) to
the ode15s (stiff/NDF) solver. Since the time scales in this example are
very small, this stiff system integration method is more efficient than the
default integration method.
The physical parameters must now be set. Enter the following commands in
the MATLAB command window.
J = 3.2284E-6;
b = 3.5077E-6;
K = 0.0274;
R = 4;
L = 2.75E-6;
Then run the simulation (press Ctrl-T or select Run from the Simulation
menu). When the simulation is finished, double-click on the scope. You
should see the following output which goes unstable and obviously does not
meet our design requirements. Note that this response is consistent with the
results we achieved from the MATLAB command line in the DC Motor
Position: System Analysis page.
Extracting a linear sampled model into MATLAB
We will now extract a linear sampled version of this continuous-time model
into the MATLAB workspace. The extraction of a sampled model can be
performed from the MATLAB command line using the command dlinmod,
though it is preferrable to perform the extraction from directly within
Simulink as we will demonstrate here. We will use the model from above.
The first thing that we need to do is to identify the inputs and outputs of the
model we wish to extract. First right-click on the signal representing the
Voltage input in the Simulink model. Then choose Linear Analysis Points
> Open-loop Input from the resulting menu. Similarly, right-click on the
signal representing the Position output and select Linear Analysis Points
> Open-loop Output from the resulting menu. The input and output signals
should now be identified on your model by arrow symbols as shown in the
figure below.
In order to perform the extraction, select from the menus at the top of the
model window Analysis > Control Design > Linear Analysis. This will
cause the Linear Analysis Tool to open. Next follow the steps given below.
From the Linear Analysis Tool window, click the More Options
button. From the resulting window, change the sample time to "0.001"
as shown in the figure below. The rate conversion method can remain
the default Zero-Order Hold.
Within the Linear Analysis Tool window, the Operating Point to be
linearized about can remain the default, Model Initial Condition.
In order to perform the linearization/discretization, next click the Step

button identified by a step response with a small green triangle at the
top. The result of this linearization/discretization is the linsys1 object
which now appears in the Linear Analysis Workspace. This model
can be exported by simply dragging the object into the MATLAB
Workspace.
This object can then be used within MATLAB in the same manner as an
object created directly from the MATLAB command line. Specifically,
entering the command zpk(linsys1) in the MATLAB command window

demonstrates that the resulting model has the following form.
(1)
Note that this model is identical to the model generated from the conversion
performed in DC Motor Position: Digital Controller Design page. This makes
sense since the same sample time and discretization method were used,
and because the original model was already linear.
To further verify the validity of the model extraction, we will generate an
open-loop step response of the discrete-time transfer function in MATLAB.
Enter the following commands at the prompt of the MATLAB command
window. You should see the following plot which is in agreement with the
output from the continous Simulink model evaluated above.
t = 0:0.001:0.2;
step(linsys1,t);
grid
The extracted discrete models can then be used within MATLAB for various
analysis and controller design tasks. In the following, we directly employ the
Simulink model from above to simulate the implementation of a digital
controller without explicitly discretizing the continuous-time plant model.
Implementing digital control in Simulink
In the DC Motor Position: Digital Controller Design page a digital controller
was designed with the following transfer function.
(2)
We can use this compensator to simulate the associated closed-loop digital
control system in Simulink. Starting from the Simulink model we used above
for extraction, delete the Input and Output ports and add the following:
Two Zero Order Hold blocks from the Simulink/Discrete library
Discrete Zero Pole block from the Simulink/Discrete library
Sum block from Simulink/Math Operations library
Place one Zero Order Hold block on the input of the Motor_pos subsystem
which is a continuous model of the plant. This Zero Order Hold block
converts a discrete-time signal to a stepwise-constant continuous signal.
The other Zero Order Hold block is placed on the output of the Motor_pos
subsystem and serves to take discrete samples of the output signal of the
plant. Edit the Zero Order Hold blocks such that the Sample time fields are
set to "0.001" (this is fast compared to the desired step response in the
MATLAB tutorial).
Next edit the Discrete Zero Pole block to model the discrete controller
transfer function described above. Specifically, edit the Zeros field to "[0.95
0.80 0.80]", the Poles field to "[-0.98 0.6 1]", the Gain field to "800", and the
Sample time field to "0.001". Then label the block "Controller" and resize it
to view its entire contents.
Next, enter "|+-" to the List of signs field of the Sum block. The character
"|" serves as a spacer between input ports. Now we need to set up the
simulation to observe the motor's position for a step input.
Attach a Step block to the positve input of the Sum block and attach a
Scope block to the plant output.
Double-click the Step block and set the Step time to "0".
Finally, connect the blocks as shown below.
Before we can simulate the closed-loop system, we again need to set an
appropriate simulation time. Select Model Configuration Parameters...
from the Simulation menu and enter "0.08" in the Stop time field. We
choose this stop time in order to observe the system long enough to see if it
satisfies the 0.04 seconds settling time requirement. If you have started a
new session of MATLAB or skipped the open-loop response part of this
example, then the physical parameters for the simulation must be set again.
Run the following commands at the MATLAB prompt if necessary.
J = 3.2284E-6;
b = 3.5077E-6;
K = 0.0274;
R = 4;
L = 2.75E-6;
Now the simulation can finally be run. Recall that this can be accomplished
by pressing Ctrl-T or selecting Run from the Simulation menu. When the
simulation is finished, double-click on the scope. You should see the
following output.
From the above figure, it appears that the overshoot is less than 16% and
the settling time is less than 0.04 seconds as required. This is consistent
with the analysis employed in designing the digital controller. We have not,
however, assessed the response of the system with a disturbance present.
A step disturbance can be added in a similar manner to the way that the
step reference was added as shown in the following figure. Sum the
disturbance between the controller and plant following the Zero Order Hold
block since the disturbance signal is continous.
Within the model, set the disturbance Step time to occur at "0.03" seconds.
Then re-run the simulation and observe the scope output as described
above. The resulting position graph should appear as shown below.
From inspection of the above, you can see that there is a slight bump
beginning at 0.03 seconds due to the disturbance, but the system is able to
reject its effect and the steady-state error still goes to zero as required.
If you have not done so already, save your Simulink model. You can also
download our version of this model by right-clicking here and then selecting
Save link as.
Converting a continuous-time model to discrete-time

within Simulink
In the above, we extracted a linear sampled model of our plant from our
Simulink model into the MATLAB workspace using the Linear Analysis
Tool. We also, in effect, discretized the plant for the purposes of simulation
using Zero Order Hold blocks within Simulink. In this section, we will
generate a discrete-time model of our plant without the use of the Zero
Order Hold blocks. This approach offers a wider array of discretization
techniques than can be achieved through Simulink blocks, which are limited
to Zero Order and First Order Hold. This is especially useful in generating a
digital controller from a continous design.
So far we have chosen to employ the first principles simulink model but we
could have just as easily used the Simscape model or the LTI System
model. One thing to be careful of, however, is that if you were to use the
Simscape model of the plant in the above, the physical Simscape signals
would need to be converted to dimensionless Simulink signals in order to
interface with the Simulink blocks we employed. This process is described
in the DC Motor Position: Simulink Modeling page.
In the following, we will discretize the LTI System model which can be
downloaded by right clicking here and then selecting Save link as, or you
can create it yourself as DC Motor Position: Simulink Modeling page.
Recall that the LTI System block imports a model from the MATLAB
workspace. Therefore, you need to enter the following commands at the
command line where it is presumed that values have already been entered
for the various physical parameters.
A = [0 1 0
0 -b/J K/J
0 -K/L -R/L];
B = [0 ; 0 ; 1/L];
C = [1 0 0];
D = 0;
Your model should appear as follows.
To discretize this model:
Remove the In1 and Out1 ports.
Click on Analysis > Control Design > Model Discretizer and the LTI
System block will turn red.
Enter a Sample time of 0.001 and leave the Transform method as

Zero-order hold.
Then choose Discretize selected blocks from the Discretize menu.
The LTI model now is converted to discrete. Let's add a digital controller
and simulate the closed-loop response of this model. Employ the same
controller we used above. The final model should appear as follows.
Simulate the model as we have done previously. The resulting position
response should appear as follows.
Note the agreement with the closed-loop simulation results we found
previously. This makes sense since the first principles model and the LTI
System block model are equivalent and both Simulink models used a zero-
order hold type sampling to discretize the plant.
You can download our version of this model by right-clicking here and then
selecting Save link as.
Published with MATLAB® 9.2
All contents licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

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5/8/2019 Control Tutorials for MATLAB and Simulink - Motor Position: Simulink Control

Tips Effects Search Control Tutorials

TIPS ABOUT BASICS HARDWARE INDEX NEXT ►

INTRODUCTION CRUISE CONTROL MOTOR SPEED

MODELING DC Motor Position:

Extracting a linear sampled model into MATLAB

Implementing digital control in Simulink

Converting a continuous-time model to discrete-time within Simulink

In the DC Motor Position: Simulink Modeling section, we developed a

simulate and design different approaches to control. Specifically, we will

explore the design of a digital control system.

Remove the In and Out ports.

Insert a Step block from the Simulink/Sources library and connect it

with a line to the Voltage input.

To view the output position, insert a Scope from the Simulink/Sinks

library and connect it to the Position output.

To provide an appropriate unit step input at t=0, double-click the Step

block and set the Step time to "0".

The system should now appear as in the following figure.

numerical solver employed in the simulation can be specified. Go ahead

default integration method.

menu). When the simulation is finished, double-click on the scope. You

results we achieved from the MATLAB command line in the DC Motor

Position: System Analysis page.

Extracting a linear sampled model into MATLAB

We will now extract a linear sampled version of this continuous-time model

into the MATLAB workspace. The extraction of a sampled model can be

though it is preferrable to perform the extraction from directly within

model we wish to extract. First right-click on the signal representing the

should now be identified on your model by arrow symbols as shown in the

the default Zero-Order Hold.

Within the Linear Analysis Tool window, the Operating Point to be

linearized about can remain the default, Model Initial Condition.

In order to perform the linearization/discretization, next click the Step

top. The result of this linearization/discretization is the linsys1 object

which now appears in the Linear Analysis Workspace. This model

can be exported by simply dragging the object into the MATLAB

object created directly from the MATLAB command line. Specifically,

entering the command zpk(linsys1) in the MATLAB command window

performed in DC Motor Position: Digital Controller Design page. This makes

and because the original model was already linear.

To further verify the validity of the model extraction, we will generate an

open-loop step response of the discrete-time transfer function in MATLAB.

Enter the following commands at the prompt of the MATLAB command

output from the continous Simulink model evaluated above.

Simulink model from above to simulate the implementation of a digital

controller without explicitly discretizing the continuous-time plant model.

Implementing digital control in Simulink

In the DC Motor Position: Digital Controller Design page a digital controller

was designed with the following transfer function.

We can use this compensator to simulate the associated closed-loop digital

Two Zero Order Hold blocks from the Simulink/Discrete library

Discrete Zero Pole block from the Simulink/Discrete library

Sum block from Simulink/Math Operations library

converts a discrete-time signal to a stepwise-constant continuous signal.

to view its entire contents.

simulation to observe the motor's position for a step input.

Scope block to the plant output.

Finally, connect the blocks as shown below.

Before we can simulate the closed-loop system, we again need to set an

appropriate simulation time. Select Model Configuration Parameters...

new session of MATLAB or skipped the open-loop response part of this

Run the following commands at the MATLAB prompt if necessary.