KM3473 System Dynamics & Control Engineering

Laboratory Manual
Closed Loop Speed Control of a DC Motor

1 Introduction
This practical work allows the student to have a better understanding on
how to build a system that controls the speed of a DC motor at a certain
error rate.
The DC motor speed, ωm depends on the input voltage into the motor,
Vin through the relationship
Vin T R
ωm = − 2 (1)
km km

where T is the torque, R is the motor coil resistance and km is the motor
constant. If the load borne by the motor is constant, then
Vin
ωm = −C (2)
km

where C = Tkm2R is a constant.

For this purpose, it will rstly be necessary to identify the plant in the
open loop form in order to construct the best compensator which makes
it possible to regulate the rotational speed of the motor in the closed loop
system.

2 Description of the Electromechanical Module

The layout of the electromechanical module is shown in Figure 1, and Fig-
ure 2 shows the actual module. The plant is a DC electric motor with a
maximum speed of 4050 rpm. The speed of this motor can be controlled
by the magnitude of the analogue DC input voltage, or numerically through
pulse width modulation (PWM) where a pulse train is applied. In this work,
onlt the analogue DC input voltage will be used.
To control the speed of this DC motor, the following components are
available:

1
 Figure 1: Layout of the electromechanical module

Figure 2: Actual layout of the electromechanical module

• A tachogenerator which is directly mounted on the motor shaft. The

tachogenerator output at its terminals is a voltage , VT that is propor-
tional to the angular velocity (ωm ) of the motor:

VT (t) = KT × ωm (t) (3)

The tachogenerator acts as a sensor providing feedback on the instan-

taneous angular velocity of the motor in the form of an instantaneous
voltage.
• A Breadboard which allows the closed loop feedback circuit to be built,
in order to regulate the angular velocity of the motor.
• A steel disc located at the output shaft of the motor. The disc acts as
the load being borne by the motor.

2
 • An electromagnet system. The electromagnet system is used to move
the position of a steel plate such that it touches the disc or not. When
the plate touches the disc, friction will increase, representing a distur-
bance that should aect the speed of the motor.

3 Tachogenerator Calibration
3.1 Background

You are advised to read up on tachogenerators before performing this lab

work. Some information can be found at https://www.motioncontroltips.
com/what-is-a-tachogenerator-and-when-is-it-used/.
From Eq. (3), the tachogenerator produces an output voltage, VT that is
proportional to the angular velocity of its input shaft, ωm . Thus, VT provides
a measure of ωm . The value of VT (in volts) can easily be obtained using a
Voltmeter. In order to know the corresponding value of ωm (either in rad/s
or in rpm), the constant KT needs to be known. This can be done through
a set of calibration experiments.

3.2 Work to be Done

To calibrate the tachogenerator, the disc (which is coupled to the tachogen-

erator input shaft) needs to rotate at known speeds, and the corrsponding
values of VT are recorded. A best t estimation of KT can be obtained from
these data. For the purpose of these calibration tests, you may use the pro-
vided laser tachometer (Figure 3) to obtain the speed of the rotating disc,
for any given constant input voltage, Vin into the motor.

Figure 3: Laser tachometer gun

3
4 Estimation of the DC Motor Transfer Function
Model
4.1 Background

Recall that the general transfer function form for any rst order system is
given by
X (s) 1
G (s) = = KDC (4)
U (s) τs + 1

and for any second order system,

X (s) ωn2
G (s) = = KDC 2 (5)
U (s) s + 2ζωn s + ωn2

where KDC is the static DC gain (constant), τ is the time constant, ζ is the
damping ratio, and ωn is the natural frequency.
A DC motor transfer function can be given by
ωm (s) km
G (s) = =
Vin (s) JLs2 + (RJ + bL) s + km
2

where J is the mass moment of inertia of the rotor, L is electrical inductance,

and b is the viscous friction constant. L is often small and can be neglected.
Hence,

km
G (s) =
RJs + k 2
  m
1 1
=   (6)
km RJ
s+1
2
km

Comparing (6) to the general rst order form (4) gives KDC = k1m and
τ = RJ2 . However, the values of R and J are not normally known as they
km
are not provided by the manufacturers. Alternatively, the transfer function
may be estimated from the system response behaviour.
For a rst order system, starting with zero initial conditions, given a
constant input of magnitude A, u (t) = A, i.e. U (s) = As , then
1 A
X (s) = G (s) U (s) = KDC . .
τs + 1 s
The solution is  t

x (t) = AKDC 1 − e− τ

4
At steady-state (i.e. as t → ∞),
lim x (t) = AKDC
t→∞

At time t = τ ,
 τ

x (τ ) = AKDC 1 − e− τ
= AKDC 1 − e−1

= AKDC (1 − 0.37)
= 0.63AKDC

Similarly,
• at time t = 2τ , x (2τ ) = 0.86AKDC

• at time t = 3τ , x (3τ ) = 0.95AKDC

• at time t = 4τ , x (4τ ) = 0.98AKDC

• at time t = 5τ , x (5τ ) = 0.99AKDC

In short, for any rst order system, given a constant input, the transient
response will reach 63% of the nal (steady state`) value after a time t = τ
seconds, 86% at 2τ , 95% at 3τ , 98% at t = 4τ and 99% at t = 5τ seconds.
Figure 4 illustrates this.

4.2 Work to be Done

Wire the electromechanical module such that the tachogenerator output volt-
age, VT (which represents the motor speed) can be observed on the oscillo-
scope. Then, with the motor initially at rest, provide suitable input voltage
values, Vin and observe the response displayed on the oscilloscope. The val-
ues of τ and KDC may be estimated from the observed response curve. For
each value of Vin that you use, what would you expect the value of the motor
speed to be when
• t = τ?

• t = 5τ ?

• t → ∞?

5
 Figure 4: Step response

5 Closed Loop Feedback Control of the DC Motor

5.1 Background

In this part, the speed of the DC motor is to be controlled such that the
steady state motor speed approaches the reference setpoint value (the de-
sired motor speed) as closely as possible. The motor speed should also au-
tomatically self-adjust to the setpoint value when subjected to disturbances
during operation. Referring to Figure 5, the closed loop transfer function is
given by
ωm (s)
T (s) =
Vr (s)
Kp G (s)
=
1 + Kp KT G (s)

Hence, the behaviour of ωm can be found for any reference setpoint Vr by

ωm (s) = T (s) Vr (s)
Kp G (s)
= Vr (s)
1 + Kp KT G (s)

6
and then, taking inverse Laplace transforms,
ωm (t) = L−1 {ωm (s)}

The steady state value of ωm (t) as t → ∞ can also be found using the Final
Value Theorem:
lim ωm (t) = lim sωm (s)
t→∞ s→0
= lim sT (s) Vr (s)
s→0

Figure 5: Closed loop feedback control

The objective is to minimize the error voltage, Ve which is the dierence
between the reference input voltage Vr and the measured output voltage
coming from the tachogenerator, VT , i.e.
Ve = Vr − VT (7)
The summing junction which realizes Eq. (7) is made up of the amplier
circuit shown in Figure 6. Hence, the error voltage which is the output of

Figure 6: Summing junction circuit

the summing junction is given by
(R1 + R2 ) R4 R2
Ve = Vr − VT
(R3 + R4 ) R1 R1

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What would be suitable values of R1 , R2 , R3 and R4 that would result in
Eq. (7)?
Likewise, the controller used in this case is a proportional gain (P) con-
troller realized by the non-inverting amplier circuit shown in Figure 7.

Figure 7: Proportional gain controler

Hence,
 
Rf
Vin = 1+ Ve
R5
= Kp Ve

where Kp = 1 + RRf5 .
The operational amplier (op-amp) is a general purpose LM741 inte-
grated circuit whose pinout is shown in Figure 8. Note that in the actual

Figure 8: LM741 op-amp IC

electromechanical module, a transistor is placed after the op-amp to increase

the electrical current to a value that is suitable for the DC motor.

5.2 Work to be Done

1. Using the results from Section 3, determine the setpoint voltage, Vr

required to represent the desired motor speed of 750 rpm.
2. Calculate a suitable value for the proportional control gain Kp such
that the steady state error is less than 5%.

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 3. With R5 xed at 10 kΩ, what would be the required value of Rf such
that the control gain Kp in (2) is realised?
4. Now, using an op-amp and resistors with suitable resistance values,
implement in the electromechanical module, the control gain Kp value
found in (2).
5. Switch the electromagnet on and o, and observe the techogenerator
output behaviour as shown on the oscilloscope. Also, monitor the con-
trol input voltage, Vin into the motor as the electromagnet is switched
on and o.

6 Conclusion
In this laboratory work, you should have managed to construct a Propor-
tional feedback control system that regulates the angular velocity of a DC
motor. The motor speed should closely follow a given setpoint value de-
termined by the user. The motor speed should also automatically readjust
itself to the setpoint speed value should there occur disturbances aecting
the system dynamics. The controller gain, designed through mathematical
formulation, was then translated into the actual physical system in the form
of electronic circuits using operational ampliers.
Discuss your observations of both the steady state and transient be-
haviours of the motor speed,
1. without feedback control.
2. under feedback control with dierent values of controller gain, Kp .
Discuss also possible alternative controller types that could be implemented
to improve the motor speed behaviour in following the setpoint reference.