CHAPTER V
DESIGN FEEDBACK COTNROLLERS
FOR MOTOR DRIVES
PREPARED BY: MR. SAN RATHANA 1
5-1 INTRODUCTION
Many applications, such as robotics and factory automation, require
precise control of speed and position.
In such applications, a feedback control is used.
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5-2 CONTROL OBJECTIVES
The controller is designed with the following objectives in mind:
1. A zero steady state error
2. A good dynamics response (which implies both a fast transient response, for
example to a step change in the input, and a small settling time with very
little overshoot).
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5-2 CONTROL OBJECTIVES
To keep the discussion simple, a unity feedback will be assumed. The
open-loop transfer function (including the forward path and the unity
feedback path) is:
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5-2 CONTROL OBJECTIVES
As a first-order approximation in many practical systems:
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5-3 CASCADE CONTROL STRUCTURE
The Cascade control structure is commonly used for motor drives
because of its flexibility. It consists of distinct control loop; the
innermost current (torque) loop is followed by the speed loop.
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5-4 STEP IN DESIGNING THE FEEDBACK
CONTROLLER
In view of the above, the following steps for designing the controller
are suggested:
1. The first step is to assume that, around the steady-state operating point, the
input reference changes and the load disturbances are all small.
2. Based on the linear control theory, once the controller has been designed,
the entire system can be simulated on a computer under large-signal
conditions to evaluate the adequacy of the controller.
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5-5 SYSTEM REPRESENTATION FOR SMALL
SIGNAL ANALYSIS
For ease of the analysis, the system is assumed linear and the steady-
state operating point is assumed to be zero for all of the system
variable.
This linear analysis can be then extended to nonlinear systems and to
steady-state operating conditions other than zero.
5-5-1 The average representation of the PPU
For the purposes of designing the feedback controller, we will
assume that the dc-bus voltage within the PPU is constant.
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5-5 SYSTEM REPRESENTATION FOR SMALL
SIGNAL ANALYSIS
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5-5 SYSTEM REPRESENTATION FOR SMALL
SIGNAL ANALYSIS
5-5-2 Modeling of the DC Machine and the Mechanical Load
The dc motor and the mechanical load are modeled in which the
speed and the 𝑏𝑎𝑐𝑘 − 𝑒𝑚𝑓 are assumed not to contain switching
frequency components.
The electrical and the mechanical equations corresponding are:
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5-5 SYSTEM REPRESENTATION FOR SMALL
SIGNAL ANALYSIS
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5-5 SYSTEM REPRESENTATION FOR SMALL
SIGNAL ANALYSIS
PREPARED BY: MR. SAN RATHANA 12
5-5 SYSTEM REPRESENTATION FOR SMALL
SIGNAL ANALYSIS
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5-6 CONTROLLER DESIGN
5-6-1 PI Controllers
Motion control systems often utilize a PI Controller.
The input to the controller is the error, which is the difference
between the reference input and the measured output.
In the integral controller, the output is proportional to the integral of
the error, expressed in the Laplace domain is:
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5-6 CONTROLLER DESIGN
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5-6 CONTROLLER DESIGN
The transfer function of a PI controller is:
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5-7 EXAMPLE OF A CONTROLLER DESIGN
In the following discussion,
we will consider the example
of a permanent-magnet dc
motor supplied by a switch-
mode PWM dc-dc converter.
The system parameters are
given as follows:
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5-7 EXAMPLE OF A CONTROLLER DESIGN
5-7-1 The design of the
torque (current) control
loop
We will begin with the
innermost loop to
represent the motor load
combination, PPU and PI
Controller.
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5-7 EXAMPLE OF A CONTROLLER DESIGN
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5-7 EXAMPLE OF A CONTROLLER DESIGN
5-7-2 The design of the Speed Loop
We will select the bandwidth of the speed loop to be one order of
the magnitude smaller than that of the current (torque) loop.
Therefore, the closed-current loop can be assumed ideal for design
purposes and represented by unity.
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5-7 EXAMPLE OF A CONTROLLER DESIGN
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5-7 EXAMPLE OF A CONTROLLER DESIGN
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5-7 EXAMPLE OF A CONTROLLER DESIGN
5-7-3 The design of position control loop
We will select the bandwidth of the position loop to be one order of
magnitude smaller than that of the speed loop. Therefore, the speed
loop can be idealized and represented by unity.
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