Contents

Introduction .................................................................................................................................................. 2 PD Controller............................................................................................................................................. 2 PD algorithm ............................................................................................................................................. 3 Block Diagram of the Control System ....................................................................................................... 3 Mathematical Model of DC Motor: .......................................................................................................... 3 Parameters of DC Motor Module: ............................................................................................................ 4 Parameters of PD Controller ......................................................................................................................... 5 Simulation ..................................................................................................................................................... 5 Result ............................................................................................................................................................ 7 Analysis ......................................................................................................................................................... 8 Conclusion ..................................................................................................................................................... 8

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Introduction
Digital signal processing (DSP) is the mathematical manipulation of an information signal to modify or improve it in some way. It is characterized by the representation of discrete time, discrete frequency, or other discrete domain signals by a sequence of numbers or symbols and the processing of these signals. The goal of DSP is usually to measure, filter and/or compress continuous real-world analog signals. For this project, we want to determine the Proportional Derivative (PD) parameter and simulate PD controller of dc motor speed control system in Matlab. Proportional-Derivative control is useful for fast response controllers that do not need a steadystate error of 0. Proportional-Derivative or PD control combines proportional control and derivative control in parallel. To determine it, the procedure has been followed to make sure the project can be done in specific period that has been decided. The objective of this project is to encourage students to know how to obtain Proportional Derivative (PD) parameter and simulate PD controller of dc motor speed control system in Matlab. The scopes of the project are the stimulation of the project using the MATLAB and the performance of PD system.

PD Controller
The proportional, integral, and derivative terms are summed to calculate the output of the PID controller. The whole equation will befit PID Controller. However, for this experiment we will only be using proportional and derivative function and the integral term will be equal to zero. Defining as the controller output, the final form of the PID algorithm is:

where : Proportional gain, a tuning parameter : Integral gain, a tuning parameter : Derivative gain, a tuning parameter : Error : Time or instantaneous time (the present) : Variable of integration; takes on values from time 0 to the present .

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PD algorithm

Block Diagram of the Control System

Input Output

Figure 1: Basic Block Digram of Controll System

In control system on where we place PD Controller, the Figure 1 are the basic concept on how the controller are being arrange. C(s) are the controller while P(s) is the plant on which for this project we use DC Motor Module for the whole system to operate.

Mathematical Model of DC Motor:

Figure 2 : Schematic Diagram of DC Motor

The motor torque, T Eq. 1

The generated voltage,

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Eq. 2

Based on Newtons Law combined with Kirchhoff Law produce Eq. 3 Eq. 4

Laplace Transform equation (3) and (4) produce Eq. 5 Eq. 6

Rearrange equation (6) Eq. 7 Substitute equation (7) in equation (5) produce Eq. 8 From equation (8), the transfer function from the input voltage, V(s) to the output angle, Eq. 9 The Eq. (9) are the transfer function of this close loop control system with feedback gain is 1.

Parameters of DC Motor Module:

The list of parameters we assume for this particular DC Motor Module and for the system to take place : a. (J) moment of inertia of the rotor : 1 kg.m^2
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b. (b) c. (Ke) d. (Kt) e. f. (L)

motor viscous friction constant electromotive force constant motor torque constant electric resistance electric inductance

: : : : :

1 N.m.s 0.01 V/rad/sec 0.01 N.m/Amp 10 Ohm 0.1 H

Parameters of PD Controller
The list of parameters to be look upon for PD Controller : a. Rise time : The time taken by a signal to change from a specified low value to a specified high value. The value are taken from 10% to 90% of the height of the graph. The unit is second, s. b. Settling time : The time elapsed from the application of an ideal instantaneous step input to the time at which the amplifier output has entered and remained within a specified error band. c. Overshoot : the maximum peak value of the response curve measured from the desired response of the system d. K_p: proportional gain. A type of closed-loop feedback control in which a constant value is multiplied with the error in order to adjust the output. Also known as gain and proportional band. e. K_d: derivative gain.

Simulation

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Figure 3: PD Controller Block Diagram

Figure 4 : DC Motor Block Diagram in Subsystem

Figure 5: Output graph on Scope of the block diagram.

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Figure 6: Output result in Discrete Form.

Result
Controller Parameters P D N
2091.8167 390.6087 0.89697

Performance Parameters of System Rise time (s) Settling time (s) Overshoot (%) Closed-loop stability
0 9 40.6 Stable

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Analysis
For this project, we had choose to do some simulation about the PD controller system. Figure 1 shows the design of the block diagram for our PD Controller. The system consists of step input, discrete PD controller, DC motor and Scope. We put the input in the step input block and then obtain the result or graph from the Scope. Figure 2 shows the graph for our PD Controller that we obtained from the Scope by using Simulink. As you can see, the graph initially has its up and down. But after a while it started to stabilize. The graph existed in that form because it has not been tuned yet. Figure 3 shows the PD Controller linearization graph. The graph was obtained at the step input and it was in discrete form. For this graph, its rise time is 0 second. Its settling time is at 9 seconds. Then the overshoot is 40.6%. For the gain margin, phase margin and peak resonance, we get 9.01 @ 2.22 rad/s, 60 @ 1.12 rad/s and 0.951 respectively. And the graph is stable.

Conclusion
The system using PD Controller is stable with 0 second rise time and settling time at 9 second with overshoot at 40.6%.

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