Speed Control Model of DC Motor Based on a Parameter Investigation Prototype

The paper presents a MatLAB/Simulink speed control model for a DC motor. Besides the known datasheet parameters of the motor, an investigation prototype is used for determining the motor parameters needed for modelling. Based on these parameters, the systemic model of the motor was developed using equations describing the mechanical and electrical phenomena involved. The motor speed is controlled using two control loops (one for the armature current and the other, effectively, for motor speed) according to cascade control technique. The two controllers are tuned according to Kessler version of the modulus criterion (for current) and symmetrical criterion (for speed). The tuning of the PI controllers used for both loops was done both, by mathematical calculation based on model specific transfer functions, and by experimental method. The response of the system is also investigated both, in steady-state and transient regime.