├── _config.yml
├── PWM.slx
├── DC_motor.slx
├── DC_motor_control_loop.slx
├── DC_motor_control_loop_pwm.slx
├── DC_motor_control_calculations.m
└── README.md


/_config.yml:
--------------------------------------------------------------------------------
1 | theme: jekyll-theme-slate


--------------------------------------------------------------------------------
/PWM.slx:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mick001/DC-motor-control-simulation/HEAD/PWM.slx


--------------------------------------------------------------------------------
/DC_motor.slx:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mick001/DC-motor-control-simulation/HEAD/DC_motor.slx


--------------------------------------------------------------------------------
/DC_motor_control_loop.slx:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mick001/DC-motor-control-simulation/HEAD/DC_motor_control_loop.slx


--------------------------------------------------------------------------------
/DC_motor_control_loop_pwm.slx:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mick001/DC-motor-control-simulation/HEAD/DC_motor_control_loop_pwm.slx


--------------------------------------------------------------------------------
/DC_motor_control_calculations.m:
--------------------------------------------------------------------------------
 1 | % Motor params
 2 | R = 5.5;                % [Ohm]
 3 | L = 0.0028;             % [H]
 4 | phi = 0.5;              % [Wb]
 5 | k = 1;                  % []
 6 | J = 0.5;                % [kg m^2]
 7 | Cr = 0.1;               % [Nm] Assumed Cr constant.
 8 | V = 24;
 9 | 
10 | % Building the system
11 | H = [L 0; 0 J];
12 | A = inv(H)*[-R -k*phi; k*phi 0];
13 | B = inv(H)*[V ; -Cr];
14 | C = [0 1];
15 | 
16 | % Steady state solution with a unit voltage step input
17 | -inv(A)*B % current / angular speed
18 | % OUTPUT
19 | %
20 | %ans =
21 | %
22 | %    0.2000
23 | %   45.8000
24 | 
25 | % State space system
26 | sys = ss(A, B, C, 0, 'StateName',{'Current' 'Angular speed'},'InputName','Voltage');
27 | 
28 | % System response to unit voltage step
29 | step(sys)
30 | 
31 | %%
32 | % Series connection with PI regulator and then negative feedback
33 | t = feedback(series(pid(5,1), sys), 1);
34 | % New system response to a unit voltage step
35 | step(t)
36 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | ## DC motor control simulation in Matlab and Simulink
 2 | 
 3 | A simulation of a control loop for a DC motor.
 4 | 
 5 | Two control strategies have been implemented through the use of a PI regulator:
 6 | 
 7 | 1. Linear voltage control
 8 | 2. PWM control
 9 | 
10 | The files in this repository are the following:
11 | 
12 | - DC_motor.slx which is the Simulink model of the DC motor
13 | - PWM.slx which is a simulink model for a PWM block (input=analogue voltage from 0 to 1 V, output=PWM signal to static switch)
14 | - State space system: motor parameter, state space system and step response
15 | - DC-motor-analogue-control.slx: Simulink model of a linear voltage control through a PI regulator
16 | - DC-motor-pwm-control.slx: Simulink model of a PWM control through a PI regulator
17 | 
18 | The regulator was tuned with some overshoot using the tuning utility in Matlab.
19 | 
20 | ### Control loop
21 | ![PWM control](https://user-images.githubusercontent.com/13961654/53666004-3df3cb00-3c6d-11e9-8f61-2fe56ec14dc8.png)
22 | ![Linear voltage control](https://user-images.githubusercontent.com/13961654/53666006-3f24f800-3c6d-11e9-87f5-8113fb4e0dcb.png)
23 | 
24 | ### DC motor model implementation
25 | ![dc-motor](https://user-images.githubusercontent.com/13961654/53666767-4ea54080-3c6f-11e9-9af9-219a589f9025.png)
26 | 
27 | #### Speed [rad/s] over time [s]
28 | ![speed-control-example](https://user-images.githubusercontent.com/13961654/53666772-52d15e00-3c6f-11e9-933a-781240180f96.png)
29 | 


--------------------------------------------------------------------------------