BDA30703

CONFIDENTIAL

UNIVERSITI TUN HUSSEIN ONN MALAYSIA

PROJECT INSTRUCTIONS
SEMESTER 1
SESSION 2019/2020

COURSE NAME : CONTROL ENGINEERING

COURSE CODE : BDA 30703

PROGRAMME : BDD

DUE DATE : 6 DECEMBER 2019

DURATION : 5 WEEKS

INSTRUCTIONS : ANSWER ALL QUESTIONS

THIS PROJECT INSTRUCTIONS CONSISTS OF FIVE (5) PAGES

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CONTROL ENGINEERING (BDA 30703)
PROJECT: Investigation of loading effect on DC motor speed responses

Objective of the project:

1. Engineering Knowledge - Analyze the stability, steady-state errors and transient response of
controlled system using appropriate methods (C4, LO1)
2. Problem Analysis - Demonstrates analysis and design of physical systems using time and
frequency response methods to the practical application in control systems (C3, LO11)
3. Individual and Team Work - Execute problem solving methods and verify the concepts
covered in basic control system via hand calculation and simulation in computer-aided
software in group project (A2, LO5)

Background of the project:

Motor is an electromechanical component that yields a displacement/velocity output for a voltage

input. In another word, the motor converts an electrical input to the corresponding mechanical output.
One of the most commonly applied motors in control applications is DC motor. Figure 1 shows
sketch of an armature-controlled DC motor and its electric diagram. Work in a group of 4-5 members
to solve problems related to velocity control of an electromechanical system given in Figure 1.

(a) (b)
Figure 1: DC motor (a) sketch and (b) electrical diagram

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Instructions:

Velocity control of the DC motor operates on the basic principle of feedback control (closed-loop
system). The difference between the output (actual motor speed sensed through the feedback signal)
and the reference input (desired motor speed) is an error that is used to correct the control signal,
which is the voltage input to the system. This project aims at revealing the effect of proportional and
integral control action. Following are the required steps need to be followed in solving the given task.

1. Write all the necessary equations related to the armature-controlled DC motor shown in
Figure 1.
2. Using the equations obtained in (1), establish a block diagram of the system given input
voltage, Va(s) and angular velocity, ω(s) are the system input and output, respectively. Also,
includes in the block diagram the effect of the external disturbance from the load, TL(s).
3. Note that all the necessary parameters related to the applied DC motor are given in Table 1.
4. Using MATLAB Simulink software, construct the system. Then investigate the open-loop
motor speed response and the effect of loading on the speed.
4.1 Open-loop motor speed response: Assume that there is external load, TL(t), subject to
the motor, find the appropriate voltage to bring the motor speed to 60 rpm
(clockwise/positive). Run the system for 30 seconds. Obtain plots of motor speed, input
voltage and motor current. Use the theories you learned in the class and relate them to your
simulation observation.
4.2 Effect of loading on the speed: Apply the same voltage as in obtained 4.1. Subject the
motor with the external load of TL(t) = 0.2 Nm after running the system for 15 seconds.
Obtain plots of input voltage, motor current and motor current for this loading situation.
Discuss your observations. In particular, comment on the effect of the external load on the
open-loop response

Note: You must use the block diagram drawn earlier to support your comments. Include an
external load in the block diagram. Particularly, explain the changes in the motor speed and
motor current when the load was attached. Write the necessary formulations to support your
reasoning.

5. Further, investigate the closed-loop motor speed response and the effect of loading on the
speed.
5.1 Closed-loop motor speed response: Apply a proportional control with different
proportional gains. Set the desired value for the motor speed to 60 rpm
(clockwise/positive). Run the system for 30 seconds. Obtain the responses and discuss
your observations.
5.2 Effect of loading on the speed: Study the effect of loading (follows the same step done
in 4.2) for two different proportional gains. What is your observation?
5.3 To the best performing proportional control gain, add an integral control (start from a very
small gain). Discuss your observation. See the effect of loading/unloading on the system
with a PI controller.

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Note: Explain why the speed response from the loaded motor stayed reasonably constant when you
closed the loop? Also, discuss the speed response of the loaded/unloaded motor with increased
proportional gains. Include all plots to support your discussion. For each of the above steps relate the
observations to the theory. You must use the derivations you did earlier.

Table 1: Parameters for applied DC motor.

Parameters Value Unit Descriptions
�� 1.0 ٠(Ohm) Electric resistance
�� 0.5 H (Henry) Electric inductance
�� 0.1 Nm/A Motor torque constant
�� 0.1 V/rad/s Electromotive force constant
�� 0.01 Kgm^2 Moment of inertia of rotor
�� 0.01 Nms Motor viscous friction constant

Assessment scheme:
The project will be evaluated through a demonstration computational approach to the transient
response analysis with MATLAB (50%) and a report writing (50%).

Format of the report (to fulfil the requirement of PLO11 – Problem Analysis):
The report should consist of the following:
i. Front page (refer to Appendix 1)
ii. Chapter 1: Introduction (objectives and scopes)
iii. Chapter 2: Mathematical modelling of the system
iv. Chapter 3: Theoretical calculations related to transfer function
v. Chapter 4: Computational analysis using MATLAB
vi. Chapter 5: Conclusions and recommendations.
vii. References

Submission date:
The report should be submitted by the end of week 13th (6th December 2019).

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BDA30703
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Project: Investigation of loading effect on DC motor speed responses

A report submitted in partial fulfilment of the requirement for the course of

Control Engineering (BDA30703) SEM I 2019/20

Faculty of Mechanical and Manufacturing Engineering

Weigh
Rank Marks Remarks
tage
Literature
analysis

Review on relevant works 0.5

Originality in

review
(/5)

Chapter 2:

Review on system components 0.5

PLO 5 - INDIVIDUAL & TEAM WORK & PLO11 - PROBLEM ANALYSIS (5%)

Mathematical model 0.25

solution (/5)

calculationo
Theoretical
suitable
Formulate

Chapter 3:

Transfer function 0.5

Block diagram 0.25

disipline Research based (/5)

System construction 0.3

Results and
discussion
Chapter 4:

Open-loop system analysis 0.3

Closed-loop system analysis 0.4

Profesional

References Use proper format 0.5

(/5)

Report writing Well presented and organized 0.5

Fundamental based &

Determination of input voltage 0.4

principle analytical

calculationo
approach (/5)

Theoretical

Determination of proportional
0.3
Chapter 3:

gain

Determination of integral gain 0.3

Chapter 1:
issue (/5)

Objectives and scope 0.3

Introduction
Familiarity of

recommendat
Conclusions
Chapter 5:

Conclusions 0.4
ions
and

Recommendations 0.3
presentation

Proper attire 0.2

Group
PLO 5

Fluency 0.3

Communication and contents 0.5

Total ( / 35)