Assignment # 01

EE535- Control of electric machine drives

Submitted by:
Mamoona ishtiaq 2017-MS-EE-67
Quratul-ain 2017-MS-EE-19

Submitted to:
Dr. Abdul Rehman Kashif

University of Engineering and Technology, Lahore

Question No 1.

Simulate the sequence corresponding to Fig. 7. Modify the plotting script so that the per-
unit current and the per-unit speed are plotted (use their rated values as base values and do
not normalize time). Show this result in your report. Remember to change the axis labels.
Explain why there is a very large peak in the current after the voltage step is applied.

Simulation model:

Code:
subplot(2,1,1);
plot(ia.time,ia.data); grid on;
xlabel('Time (s)'); ylabel('Current (A)');
subplot(2,1,2);
plot(wM.time,wM.data); grid on;
xlabel('Time (s)'); ylabel('Speed (rad/sec)');

Actual Results:

Per Unit Results:

As voltage step is applied at t=0.1 sec there is Large current shown in graph which is basically
inrush current. The starting current is high as there is no back emf present in the armature
circuit, armature at start has less resistance due to this need high current. From per unit graph
it can be seen that current is 6 to 7 times the rated steady state. It can also be seen that there is
a slight overshoot in the no-load speed which due to damping of machine comes to no-load
speed in a short time.
Question No 2.
Using the analytical motor model, calculate the values for the current ia and the rotor
speed wM in the steady state, when the voltage ua = UN and the load torque TL = TN.
Compare these values to your simulation results.

Solution:

Using analytical model Ia and Wm calculated which is given in below figure. It has been
observed that the parameter values are same in both cases as Ia= 20 A, Wm= 314.28 rad/sec.
Question No 3.
Limit the rising rate of the voltage to 120 V/0.1 s using the Rate Limiter block. Simulate
the model and show the results in your report. Brief comment on the current and speed
responses.

Simulation modal:

Code:
subplot(2,1,1);
plot(ia.time,ia.data); grid on;
xlabel('Time (s)'); ylabel('Current (A)');
axis([0 0.5 -20 50]);
subplot(2,1,2);
plot(wM.time,wM.data); grid on;
axis([0 0.5 -30 450]);
xlabel('Time (s)'); ylabel('Speed (rad/sec)');

Response:

Here Rate limiter is used basically to limit/control the inrush current. Here it can be seen from
the graph that the level of inrush current has been decreased, as 120 volts at armature are not
applied instantaneously rather they are applied gradually increasing. Whereas speed is
increasing gradually to its steady state without overshoot by using rate limiter.
Question No 4.
Augment your simulation model with unipolar PWM and converter models. Your model
should look similar to the model in Fig. 10(b). Simulate the model and show the results in
your report. Brief comment on differences compared to the previous simulation, where
an ideal voltage source was assumed. Submit this version of your simulation model to
MyCourses.

Simulation model:

Code:
subplot(2,1,1)
plot(ia.time,ia.data); grid on; hold on;
axis([0 0.5 -20 25]); % Controls axis scaling
subplot(2,1,2)
plot(wM.time,wM.data); grid on;
xlabel('Time (s)'); ylabel('Speed (rad/sec)');
axis([0 0.5 0 400]);
Results:
The same response has been observed as in rate limiter case. Motor speed starts increasing at
the instant the voltage is applied at the terminal and comes to no-load speed without overshoot
and quickly. Whereas in current waveform there is current variation between 10.5 and 9.5 A
due to which waveform shows dark blue.
Question No 5.
Plot the waveforms of the actual current ia and the synchronously sampled current ia k
in the same subplot. Show also the waveform of the voltage ua.

Code:
subplot(2,1,1)
plot(ia.time,ia.data); grid on; hold on;
stairs(ia k.time,ia k.data,'r'); % Discrete signal
axis([0.15 0.1504 9 11]); % Controls axis scaling
xlabel('Time (s)'); ylabel('Current (A)');
subplot(2,1,2)
plot(ua.time,ua.data); grid on;
axis([0.15 0.1504 -10 150]);
xlabel('Time (s)'); ylabel('Voltage (V)');

Results:

The response shows due to PWM, voltage at dc motor input becomes square waveform of 0-
140 v because of that there is current ripple in current waveform. Speed of controller can be
control by adjusting duty cycle of PWM.
Question No 6.
Calculate the theoretical rise time of the torque and compare it to the simulated rise
time.

Simulation model:
Results:

Tr (calculated)= 1.12x 10^-3 sec

Tr (simulation)= 1.1x 10^-3 sec
Calculated and simulated rise times are almost equal.

Question No 8.
Tune the speed controller of your simulation model for the closed-loop band-width
alphas= alphac /10. Test your model using the square-wave speed reference, whose
amplitude is 160 rad/s and frequency is 4 Hz. Generate the rated load torque step at t =
0:3 s. Show results of this simulation in your report. Show also the figures describing the
main level of your simulation model and the implemented speed controller.
Simulink model:

Results:

Question No 9.
This problem aims to illustrate the robustness of the closed-loop control scheme against
parameter errors. Generally, resistances depend on temperature (about 0.4%/K) and
inductances may vary due to the magnetic saturation. Change the actual armature
resistance in the motor model to 150% of the original value and the actual armature
inductance to 70% of the original value, but do not change the values in the control
system. Simulate the model. Show the results and comment on them in your report. After
this problem, restore these parameter values back to their original values.
Results:

By changing the internal parameters of the motor in which R is increased to 150% and L is
decreased to 70% it has been observed that controller still takes approximately same time to
settle the value of speed. We can say that controller is robust against the system changes.
Q#10
This problem aims to illustrate the importance of the anti-windup scheme. Re-move the
anti-windup in the speed controller (but do not remove the saturation of the controller
output). Show results of your simulation and comment on them.

Simulink model:
Results (without antiwindup):

with the anti-windup scheme, the speed control is more robust and there is no overshoot from
the reference speed value. Whereas without the anti-windup scheme the speed deviates more
from the reference values or we can say that the control had become under-damped. The same
behaviour is shown for the reverse speed. Hence anti-windup scheme is very important for
speed controller.