Prepared by: J.C. Cockburn and A.

Savakis

DCS Lab 3

DC Motor Transfer Function

Permanent magnet DC motors are commonly used to provide rotary (or linear) motion to a variety of electromechanical devices and servo systems. In most applications the speed or position of the shaft of these motors must be accurately controlled. In order to design such velocity and position control systems it is necessary to obtain, analytically or experimentally, a mathematical model for the motor or system to be controlled. If the system is predominantly linear a suitable model is given by its Transfer Function. In the previous laboratory experiment some parameters of the Motor Board, including DC motor + amplifier, tachogenerator and potentiometer transfer functions were identified. In this lab, students will design an experiment to identify the dynamic characteristics (e.g. the time constants) of the DC motor transfer function. The transfer function of a typical permanent magnet DC motor has the general form: Km Gm = , (s m + 1)(s e + 1) 1 1 where m = is the mechanical time constant and e = is the electrical time p2 p1 constant and p1 and p2 the corresponding poles. If m > 10 e , e.g., the electrical time constant is at least an order of magnitude (ten times) faster the response is dominated by the slow mechanical pole and the system can be well approximated by a single pole transfer function: Km Gm = (s m + 1) More information on the DC motor transfer function and its identification is available at: Dorf and Bishop 9th ed, page 52, Example 2.5 http://www.andrew.cmu.edu/course/24-451/labs/lab1/lab1.html http://mechatronics.me.vt.edu/book/Section3/motormodelling.html http://www.ti.com/sc/docs/general/dsp/fest99/poster/ltangchassaing.pdf Lab work: 1. Find the step response of the Motor Module The students will design a simple experiment to determine the step response of the Motor Module from voltage input (Control Voltage) to output shaft velocity (Tachogenerator voltage). Choose a suitable magnitude for the input set-point voltage. You can use this information in the next experiment to choose an appropriate range of frequencies for your sine sweep experiment. Save this result to a file that you can import to Matlab for your lab. report.

Prepared by: J.C. Cockburn and A. Savakis

2. Find the frequency response of the Motor Module The students design a sine sweep experiment to determine the frequency response of the Motor Module from voltage input (Control Voltage) to output shaft velocity (Tachogenerator voltage). pole model. Take enough points to identify correctly the break points in the magnitude bode plot. You will use this bode plot to estimate the poles of the transfer function based on single pole and two-pole model. 3. Demo to your Lab instructor. Record all your frequency response measurements in an Excel table. Show the measurements recorded in the above tables and the resulting Matlab plots properly labeled and dated. Also plot the step response in Matlab and label it properly. 4. Lab Report: Each student should prepare a lab report according to the report guidelines. Topics for discussion: 1 Provide a detailed description of the experimental procedure used to determine the transfer function parameters. Include a block diagram of the system being identified (e.g. use Simulink to draw it). 2 Are there any other methods that can be used to find a dynamic model of the DC motor ? What information can you obtain from the step response ? 3 Using Matlab and the function bode plot the Bode plot of the transfer function from input voltage to tachogenerator output using the parameters determined in the Lab. In the same plot overlap the experimentally obtained data. Comment on any significant difference. 4 Are the results of this experiment consistent with the results obtained in Laboratory 2 ? 5 Based on your experimental results, can the electrical time constant be ignored ? 6 Propose a method that can be used to validate the results of the experimentally determined transfer function parameters.