5 electric motor
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SYSTEMS AND CONTROLUNIVERSITY OF BATH LECTURE NOTES2ND YEAR MECHANICAL ENGINEERINGTRANSCRIPT
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ME20013 Systems and Control
5. ELECTRIC MOTOR POSITION CONTROL
CASE STUDY
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DC Motor
Encoder
Power amplifier
PIC Microcontroller
Inertial load
Encoder interface
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Incremental optical encoder
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Incremental optical encoder
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iRev =−
ω=+ JTT dm
)1s(s
K
u +τ=
θ
If the voltage and torque disturbances are zero:
BK
1K =
2
BK
JR=τWhere:
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The controller structure is called a derivative feedback or velocity
feedback controller. The controller gains are:
•Proportional gain, kp
•Velocity gain, kd
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τ+τ
++
τ=
θ
Kk
s)Kk1(
s
/Kk
r pd2
p
Closed loop transfer function:
2nn
2
2n
s2s
k
r ω+ςω+
ω=
θ
Compare with standard form for second order lag: