FACULTY OF MECHANICAL ENGINEERING

DEGREE IN MECHANICAL ENGINEERING ( EM 220 )

GROUP EMD6M6A

MEC522 – CONTROL ENGINEERING

TITLE : PBL ASSIGNMENT

PREPARED FOR:

DR. MOHD NOR AZMI AB PATAR

PREPARED BY:

AMIRUL ASYRAAF BIN MAZLAN 2018292028

ASYRAF BIN MAZALAN 2018693666

MOHAMAD NOR IZZAT BIN ELIAS 2018292042

MOHAMMAD ZARUL NAJMIE BIN 2018292392

ZULKIFLI

MUHAMMAD NAJMI BIN MUZAHHAR 2018292286

WAN MUHAMMAD FIRDAUS BIN 2018292204

WAN RIZUAN
Table of Content

No Content Pages

1.0 Introduction 1-2

2.0 Objective 3

3.0 Theory 3-5

4.0 Problem statement 6-7

5.0 Results 8-28

6.0 Discussion and Conclusion 29-41

7.0 References 43
1.0) INTRODUCTION

In general, there are two types of motors used in multirotors (drones).

1.1) Brushed (DC, coreless): This motor is commonly found in practically all toy-grade
multirotors, such as the Syma X5, Blade Nano QX, UDI 818A, etc. Even the Parrot
AR Drone uses coreless motors.

Figure 1.1.1 : Brushed (DC, coreless)

Advantages: Coreless motors are cheap to manufacture, simple to wire, compact, and
lightweight.

Disadvantages: Coreless motors have a short lifespan, depending on its size. (The larger
the motor, the longer it usually lasts.) The ones used in toy quads generally have
between 0 - 6 hours of total run-time before they burn out. Coreless motors are also not
as powerful as the brushless motors mentioned below.

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 1.2) Outrunner Brushless: Generally these motors are used in photography multirotors
for example; the DJI Drone series, 3DR Solo, Yuneec Q500 series, Traxxas Aton,
and in racing multirotors like the 250mm kit quadcopters. The appearances of
brushless motors vary from manufacturer, but generally they are short and stout.
Multirotors that use brushless motors pretty much always mount their propellers
directly to the motor shafts. Nowadays, drones industry is rapidly growing due to
advances in electronics and microprocessors. The applications of drones spread
across multi discipline fields.

Figure 1.2.1 : Outrunner brushless

Advantages:

• Due to absence of brushes, wear and tear is very less, thus making them more
reliable and durable.
• High RPM are possible without much heating.
• More power to weight ratio.
• Respond more quickly to variations in speed than brushed motors, making them
ideal for drones, since continuous variations in speed are required for maneuver
of drones.
• Less heating and noise. Thus more efficient.

Disadvantages: Brushless motors are more expensive than coreless motors, and require
additional electronic components like ESCs (Electronic Speed Controllers) to function. Due to
the power of brushless motors, they are more dangerous to surrounding objects.

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2.0) OBJECTIVE

The objectives of this research are:

• To differentiate types of motors used in multirotors (drones)

• To design a controller to linearize input-output relationship of a DC motor for
application in drones industry.
• To discuss the stability of closed-loop system as a controller is introduced to the system.

3.0) THEORY

In a DC motor, an armature rotates inside a magnetic field. The basic working principle of DC
motor is based on the fact that whenever a current carrying conductor is placed inside a
magnetic field, there will be mechanical force experienced by that conductor.

All kinds of DC motors work under this principle. Hence for constructing a DC motor, it is
essential to establish a magnetic field. The magnetic field is established by using a magnet.
You can use different types of magnets – it may be an electromagnet or it can be a permanent
magnet. A Permanent Magnet DC motor (or PMDC motor) is a type of DC motor that uses a
permanent magnet to create the magnetic field required for the operation of a DC motor.

Figure 3.1 : Working Principle of Permanent Magnet DC Motor or PMDC Motor

As we said earlier the working principle of PMDC motor is just similar to the general working
principle of DC motor. That is when a carrying conductor comes inside a magnetic field, a

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mechanical force will be experienced by the conductor and the direction of this force is
governed by Fleming’s left hand rule. As in a permanent magnet DC motor, the armature is
placed inside the magnetic field of permanent magnet; the armature rotates in the direction of
the generated force. Here each conductor of the armature experiences the mechanical force F
= B.I.L Newton where, B is the magnetic field strength in Tesla (weber / m2), I is the current
in Ampere flowing through that conductor and L is length of the conductor in metre comes
under the magnetic field. Each conductor of the armature experiences a force and the
compilation of those forces produces a torque, which tends to rotate the armature.

Figure 3.2 : Equivalent Circuit of Permanent Magnet DC Motor or PMDC Motor

As in PMDC motor the field is produced by permanent magnet, there is no need of drawing
field coils in the equivalent circuit of permanent magnet DC motor.
The supply voltage to the armature will have armature resistance drop and rest of the supply
voltage is countered by back emf of the motor. Hence voltage equation of the motor is given
by,

Where, I is armature current and R is armature resistance of the motor. Eb is the back emf and
V is the supply voltage.

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Mathematical Model

Consider 𝑒𝑎 ሺ𝑡ሻ and 𝑒𝑏 ሺ𝑡ሻas inputs and 𝑖𝑎 ሺ𝑡ሻ as output. Write KVL around armature

𝑑𝑖𝑎 ሺ𝑡ሻ
𝑒𝑎 ሺ𝑡ሻ = 𝑅𝑎 . 𝑖𝑎 ሺ𝑡ሻ + 𝐿
𝑒𝑏 ሺ𝑡ሻ

Mechanical Dynamics is derived as

𝑑𝑤𝑚 ሺ𝑡ሻ
𝑇ሺ𝑡ሻ = 𝐽𝑚 . + 𝐵𝑚 . 𝑤𝑚 ሺ𝑡ሻ
𝑑𝑡

Electromechanical equations are

𝑒𝑏 ሺ𝑡ሻ = 𝐾𝐸 . 𝑤𝑚 ሺ𝑡ሻ

𝑇ሺ𝑡ሻ = 𝐾𝑇 . 𝑖𝑎 ሺ𝑡ሻ

Block Diagram Representation

To find the transfer function between the armature voltage and motor speed, we can use Laplace
Transform to eliminate the dependency of variables in derivative terms.

The relationship between position angle 𝜃𝑚 ሺ𝑠ሻ and input Voltage 𝐸𝑚 ሺ𝑠ሻ can be established as

1
𝜃𝑚 ሺ𝑠ሻ = ൤ ൨ . 𝛺𝑚 ሺ𝑠ሻ
𝑠

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4.0) Problem Statement
In this PBL assignment, we are required to design a controller to linearize input-output
relationship of a DC motor for application in drones industry. Consider a permanent magnet
dc motor has the following specifications.

Figure 4.0.1 : A schematic diagrams of a DC

motor

Figure 4.0.2 : Performance Specifications of controlled

angle of the system shown in Fig 4.0.1

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Parameters given :

• Maximum speed ωm = 500 rad/sec

• Maximum armature current Ia,max = 2.0 A
• Voltage constant Ke = 0.06 V-s/rad
• Torque constant KT = 0.06 N-m/A
• Friction torque Tf = 0.012 N-m
• Armature resistance Ra = 1.2Ω
• Armature inductance La = 0.020 H
• Armature inertia Jm = 6.2x10−4 N-m-s2/rad
• Armature viscous friction Bm = 1x10−4 N-m-s/rad

4.1) Solution Requirements

Figure 4.1.1 : The block diagram of the derived transfer

function depicted in Fig. 4.0.1

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5.0 RESULTS

5.1) Determine the velocity/voltage transfer function for this motor.

Equation obtain from the given block diagram Fig.4.1.1 ;

𝛺𝑚 ሺ𝑠ሻ 𝐾𝑇
= ሺ𝐿𝑎 𝑠 + 𝑅𝑎 ሻ ሺ𝐽𝑚 𝑠 + 𝐵𝑚 ሻ + ሺ𝐾𝑇 × 𝐾𝑒 ሻ
𝐸𝑎 ሺ𝑠ሻ

Substitute the values ;

𝛺𝑚 ሺ𝑠ሻ 0.06
=
𝐸𝑎 ሺ𝑠ሻ ሺ0.02𝑠 + 1.2ሻ ሺ6.2×10−4 𝑠 + 1×10−4 ሻ + ሺ0.06×0.06ሻ

𝛺𝑚 ሺ𝑠ሻ 0.06
=
𝐸𝑎 ሺ𝑠ሻ 1.24×10−5 𝑠2 + 7.46×10−4 𝑠 + 0.00372

Position Transfer Function ;

1
𝜃𝑚 ሺ𝑠ሻ = 𝛺𝑚 ሺ𝑠ሻ
𝑠

1 0.06
𝜃𝑚 ሺ𝑠ሻ = ሺ )
𝑠 1.24×10−5 𝑠 2 + 7.46×10−4 𝑠 + 0.00372

0.06
𝜃𝑚 ሺ𝑠ሻ =
1.24×10−5 𝑠 3 + 7.46×10−4 𝑠 2 + 0.00372𝑠

8
5.2) Determine the velocity/voltage and position/voltage transfer functions for the motor
neglecting the electrical time constant.

𝛺𝑚 ሺ𝑠ሻ 𝐾𝑠
= Substitute the value:
𝐸𝑎 ሺ𝑠ሻ 1+ 𝜏𝑠 ∙𝑠
𝛺𝑚 ሺ𝑠ሻ 16.129
=
𝐸𝑎 ሺ𝑠ሻ 1 +0.2𝑠

𝐾𝑇
𝐾𝑠 =
ሺ𝐾𝑇 ∙ 𝐾𝐸 ሻ +ሺ𝑅𝑎 ∙ 𝐵𝑚 ሻ
1
When 𝜃𝑚 ሺ𝑠ሻ = 𝛺𝑚 ሺ𝑠ሻ ;
0.06 𝑠
𝐾𝑠 = ሺ0.06×0.06ሻ + ሺ1.2 × 1×10−4 ሻ 𝛺𝑚 ሺ𝑠ሻ 16.129
=
𝐸𝑎 ሺ𝑠ሻ 0.2𝑠2 + 𝑠
𝐾𝑠 = 16.129

𝑅𝑎 ∙ 𝐽𝑚
𝜏𝑠 = ሺ𝐾𝑇 ∙ 𝐾𝐸 ሻ + ሺ𝑅𝑎 ∙ 𝐵𝑚 ሻ

1.2×ሺ6.2×10−4 ሻ
𝜏𝑠 = ሺ0.06×0.06ሻ + ሺ1.2× 1×10−4 ሻ

𝜏𝑠 = 0.2

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 5.3) Design a Controller (a P-I, P-D, or P-I-D controller)

5.3.1) Manual Calculation for PI Controller System

𝐸𝑎 (𝑠) 𝜃𝑚 (𝑠)
𝐾𝑝 𝑠 + 𝐾𝑖 600
𝑠 0.124𝑠 + 7.46𝑠 2 + 37.2𝑠
3

PI CONTROLLER PLANT

𝐸𝑎 (𝑠) 𝜃𝑚 (𝑠)
600(𝐾𝑝 𝑠 + 𝐾𝑖 )
𝑠(0.124𝑠 3 + 7.46𝑠 2 + 37.2𝑠)

Denominator of Equation:

(0.124𝑠3 + 7.46𝑠2 + (37.2 + 600𝐾𝑝)+ 600𝐾𝑖) = 0

(0.124𝑠3 + 7.46𝑠2 + (37.2 + 600𝐾𝑝)+ 600𝐾𝑖) = 0

General form for third order denominator:

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 and 𝑊𝑛 are determined to obtain the PI Parameter:

Settling time, 𝑡𝑠 = 0.5

Find 𝐾𝑝 and 𝐾𝑑

10𝜁2𝑊𝑛2 + 𝑊𝑛2 = (37.2 + 600𝐾𝑝)/0.124

10(0.7071)2(11.3138)2 + (11.3138)2 = (37.2 + 600𝐾𝑝)/0.124

𝐾𝑝 = 0.0967

5(0.7071)(11.3138)3 = 600𝐾𝑖/0.124

𝐾𝑝 = 1.0581

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 5.3.2) Manual Calculation for PD Controller System

𝐸𝑎 (𝑠) 𝜃𝑚 (𝑠)
600
𝐾𝑑 𝑠 + 𝐾𝑝
0.124𝑠 + 7.46𝑠 2 + 37.2𝑠
3

PD CONTROLLER
PLANT

𝐸𝑎 (𝑠) 𝜃𝑚 (𝑠)
600(𝐾𝑑 𝑠 + 𝐾𝑝 )
0.124𝑠 3 + 7.46𝑠 2 + 37.2𝑠

Denominator of Equation:

0.124𝑠3 + 7.46𝑠2 + (37.2 + 600𝐾𝑑)+ 600𝐾𝑝 = 0

General form for third order denominator:

12
 and 𝑊𝑛 are determined to obtain the PD Parameter:

Settling time, 𝑡𝑠 = 0.5

Find 𝐾𝑝 and 𝐾𝑑

10(0.7071)2(11.3138)2 + (11.3138)2 = (37.2 + 600𝐾𝑑)/0.124

𝐾𝑑 = 0.0967

5(0.7071)(11.3138)3 = 600𝐾𝑝/0.124

𝐾𝑝 = 1.0581

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 5.3.3) Manual Calculation for PID Controller System

𝐸𝑎 (𝑠) 𝜃𝑚 (𝑠)
2
𝐾𝑑 𝑠 + 𝐾𝑝 𝑠 + 𝐾𝑖 600
0.124𝑠 + 7.46𝑠 2 + 37.2𝑠
3

PID
PLANT

𝐸𝑎 (𝑠) 𝜃𝑚 (𝑠)
600(𝐾𝑑 𝑠 2 + 𝐾𝑝 𝑠 + 𝐾𝑖 )
0.124𝑠 3 + 7.46𝑠 2 + 37.2𝑠

ሺ600ሻሺ𝐾𝑑 𝑠 2 + 𝐾𝑠 + 𝐾𝑖
𝜃𝑚 ሺ𝑠ሻ ( )
0.124𝑠 3 + 7.46𝑠 2 + 37.2𝑠
→ =
𝐸𝑎 ሺ𝑠ሻ ሺ600ሻሺ𝐾𝑑 𝑠 2 + 𝐾𝑠 + 𝐾𝑖
1+( )
0.124𝑠 3 + 7.46𝑠 2 + 37.2𝑠

ሺ600ሻሺ𝐾𝑑 𝑠 2 + 𝐾𝑠 + 𝐾𝑖 ሻ
=
0.124𝑠 3 + 7.462 + 37.2𝑠 + 600ሺ𝐾𝑑 𝑠 2 + 𝐾𝑠 + 𝐾𝑖 ሻ

Denominator of Equation:

0.124𝑠3 + (7.46 + 600𝐾𝑑) 𝑠2 + (37.2 + 600𝐾𝑝) 𝑠 + 600𝐾𝑖 = 0

General form for third order denominator:

and 𝑊𝑛 are determined to obtain the PID Parameter:

−𝜁𝜋
√1−𝜁2
→ 𝑀𝑝 = 𝑒 = 0.0432

−𝜁𝜋
→ 3.142 =
√1−𝜁 2

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 𝜁
→1= , √1 − 𝜁 2 = 𝜁 2
√1−𝜁 2

→ 𝜁 = 0.7071

Settling time, 𝑡𝑠 = 0.5

4 4
→ 0.5 = 𝜁𝑊 , 𝑊𝑛 = ሺ0.7071ሻሺ0.5ሻ = 11.31
𝑛

Find 𝐾𝑝, 𝐾𝑑, and 𝐾𝑖

600𝐾𝑖
→ 5𝜁𝑊𝑛 3 = 0.124

5(0.7071) (11.3138)3 = 600𝐾𝑖/0.124

𝐾𝑖 = 1.0581

→ 10𝜁2𝑊𝑛2 + 𝑊𝑛2 = (37.2 + 600𝐾𝑝)/0.124

10(0.7071)2(11.3138)2 + (11.3138)2 = (37.2 +

600𝐾𝑝)/0.124

𝐾𝑝 = 0.0967

→ 7𝜁𝑊𝑛 = (7.46 + 600𝐾𝑑)/0.124

7(0.7071) (11.3138) = (7.46 + 600𝐾𝑑)/0.124

𝐾𝑑 = −0.00086

15
5.4) Discuss the stability of closed-loop system as a controller is introduced to the
system.

5.4.1a) Command Window: PI Controller

Figure 5.4.1a.1

16
Figure 5.4.1a.2

17
Figure 5.4.1a.3

18
5.4.1b) Simulink PI

Figure 5.4.1b.1

Figure 5.4.1b.2: Step graph after tuning for PI Controller (parameters included).

19
5.4.2a) Command Window: PD Controller

Figure 5.4.2a.1

20
Figure 5.4.2a.2

Figure 5.4.2a.3

21
Figure 5.4.2a.4

22
5.4.2b) Simulink PD

Figure 5.4.2b.1

Figure 5.4.2b.2: Step graph after tuning for PD Controller;

23
Figure 5.4.2b.3: Step graph parameters.

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5.4.3) PID Controller System
5.4.3a) Command Window: PID Controller

Figure 5.4.3a.1

25
Figure 5.4.3a.2

Figure 5.4.3a.3

26
Figure 5.4.3a.3

27
5.4.3b) Simulink PID

Figure 5.4.3b.1: Step graph after tuning for PID Controller (parameters included).

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6.0) Discussion and Conclusion

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7.0) REFERENCES

• https://www.electrical4u.com/permanent-magnet-dc-motor-or-pmdc-motor/
• https://en.wikipedia.org/wiki/Outrunner
• https://www.electronics-tutorials.ws/systems/closed-loop-system.html
• https://circuitglobe.com/permanent-magnet-dc-motor.html

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