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ECE 5570 - Lab 1 Modeling and Parameter Estimation For The Brush DC Motor

1) The document describes an experiment to identify parameters of a brush DC motor model from step response data using a dSpace hardware and software setup. Voltage steps between 5-25V are applied and the velocity response is analyzed to estimate the time constant and steady-state gain, yielding values for parameters (1), (2), and (3) that characterize the motor's input-output behavior. 2) Additional experiments are used to estimate the motor's torque constant K, rotor inertia J, and friction coefficient C by measuring the armature resistance R and assuming the viscous friction coefficient B is negligible. 3) The estimated parameters are then compared to manufacturer specifications to validate the experiment and calculations are made to determine

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Animesh Ghosh
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© © All Rights Reserved
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24 views

ECE 5570 - Lab 1 Modeling and Parameter Estimation For The Brush DC Motor

1) The document describes an experiment to identify parameters of a brush DC motor model from step response data using a dSpace hardware and software setup. Voltage steps between 5-25V are applied and the velocity response is analyzed to estimate the time constant and steady-state gain, yielding values for parameters (1), (2), and (3) that characterize the motor's input-output behavior. 2) Additional experiments are used to estimate the motor's torque constant K, rotor inertia J, and friction coefficient C by measuring the armature resistance R and assuming the viscous friction coefficient B is negligible. 3) The estimated parameters are then compared to manufacturer specifications to validate the experiment and calculations are made to determine

Uploaded by

Animesh Ghosh
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ECE 5570 - Lab 1

Modeling and Parameter Estimation for the Brush DC Motor


1

Introduction

The objective of this lab is to become familiar with the hardware and the software in the
lab and to begin experimentation with a brush DC motor. A model for the brush DC
motor is
di
" v # Ri # K !
dt
d!
" Ki # C sgn(! ) # B!
J
dt

(1)

where v (V) is the voltage applied to the motor, i (A) is the current, and ! (rad/s) is the
angular velocity of the motor. The parameters are:
$ R(%) the armature resistance,
$ L (H) the armature inductance,
$ K ( N & m / A or V & s ) the torque constant, also called the back-emf constant,
$ J (kg & m 2 ) the rotor intertia,
$ C ( N & m) the coefficient of Coulomb friction,
$ B ( N & m & s ) the coefficient of viscous friction
Assuming that the inductance is negligible, so that v " Ri ' K! , the following model is
obtained
J

d!
K2
K
" #(
' B)! ' v # C sgn(! )
dt
R
R

(2)

With constant direction of motion, the Coulomb friction can be viewed as a constant
disturbance, and the transfer function from the voltage to the angular velocity is that of a
first-order system. Three parameters then define the response of the system:
$ (1 " ( K 2 / R ' B ) / J
$ ( 2 " K / JR
$ (3 " C / J

The parameters can be determined in different ways. A simple procedure consists in


applying steps of increasing voltage. The time constant ) of the responses gives (1 " ) #1 .
The steady-state responses give the remaining parameters. Indeed, the steady-state speed
is related to the voltage through

!SS " (

(
(
K2
K
K2
' B) #1 vSS # (
' B) #1 C " 2 vSS # 3
R
R
R
(1
(1

(3)

for positive voltage. Measurements for two values of the voltage or more give the
information needed to determine the remaining parameters.

Experiments

Equipment list:
You will need
$ brush DC motor,
$ dual power amplifier,
$ voltmeter,
$ cable rack, and
$ dSpace kit which includes an encoder cable and I/O
breakout box.

2.1

Preliminary Testing

Be sure to read the dSpace tutorial for basic hardware and software setup.
$

Use the tutorial instructions to load the ECE5570_lab1 experiment from


the class website.

Connect the encoder input cable from the I/O breakout box port INC1 to
the encoder plug on the motor support bracket. Run the system and check
the operation of the encoder by manually spinning the motor noting a
change in encoder position in the layout window.

Connect a BNC cable from DACH1 to a channel on the duel linear


amplifier. Set the voltage in the layout for +10 V, click run in the layout
and measure the resulting voltage at the output of the amplifier. It should
be ~10 V.

Repeat testing for a BNC cable connected to DACH2 and the remaining
output of the linear amp.

Finish hooking up the system by attaching leads from the motor to the
amplifier.

2.2

Parameter Estimation

The experiment ECE5570_lab1 allows the operator to apply voltages to the DC motor.
Note that the layout includes a set of entry boxes to specify the voltage to be applied to
each channel and accounts for the value of the amplifier gain. The program stores
samples at 500 Hz or a sample every 2 ms. To capture the data needed for this lab, use
the procedure for Working with data in the tutorial to save data.
The data is available in Matlab by setting the current working directory to the
location of the saved file and by typing mat_unpack. The script file, mat_unpack
provides an automated method for unpacking the .mat file created by dSpace. Follow the
prompts to store the position, average velocity, voltage, and time variables in variables
pos, vol1, vol2 and, t which have the units of radians, volts, volts, and seconds
respectively.
Proceed with the following experiments:
$

Using the experiment, ECE5570_lab1, apply steps of increasing voltage, for


example 5, 10, 15, 20, and 25V. Complete this test within 8 seconds. In
MATLAB, reconstruct numerically the velocity as a function of time. From the
transient response, obtain an estimate of the time constant of the first-order model.
The time constant of a first-order system is the time it takes for the output to reach
63% of its steady-state value. Then, determine the steady-state velocity
corresponding to each of the voltages applied and plot the velocity as a function
of the voltage. Deduce the values of the parameters (1 , ( 2 , and (3 .

The three parameters (1 , ( 2 , and (3 are sufficient for control design since they
characterize the input/output behavior of the motor. However, it is impossible to
deduce the values of the five parameters R, L, K, B and C without further

experiments. Measure the value of R using an ohmmeter and assume that B = 0.


Deduce values for K, J, and C.
$

Compare the results to the numbers given by the manufacturer:


Torque constant = 14.8 oz.in/amp,
back-emf constant = 11 V/krpm,
rotor inertia = 8.8x10-3 oz.in.sec2, and
friction torque ! 4 oz.in.

From these results, deduce what the maximum torque deliverable by the motor is
for a current limit of 2A.

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