matlab中的dc motor的介绍,DC Motor Control

Problem Statement

In armature-controlled DC motors, the applied voltage Va controls the angular velocity w of the shaft.

This example shows two DC motor control techniques for reducing the sensitivity of w to load variations (changes in the torque opposed by the motor load).

A simplified model of the DC motor is shown above. The torque Td models load disturbances. You must minimize the speed variations induced by such disturbances.

For this example, the physical constants are:

R = 2.0; % Ohms

L = 0.5; % Henrys

Km = 0.1; % torque constant

Kb = 0.1; % back emf constant

Kf = 0.2; % Nms

J = 0.02; % kg.m^2/s^2

First construct a state-space model of the DC motor with two inputs (Va,Td) and one output (w):

h1 = tf(Km,[L R]); % armature

h2 = tf(1,[J Kf]); % eqn of motion

dcm = ss(h2) * [h1 , 1]; % w = h2 * (h1*Va + Td)

dcm = feedback(dcm,Kb,1,1); % close back emf loop

Note: Compute with the state-space form to minimize the model order.

Now plot the angular velocity response to a step change in voltage Va:

stepplot(dcm(1));