5-1

Chapter 5

Control in Electric Drives

2020 by N. Mohan
 5-2

DC Motors

stator
magnets

rotor
winding

Figure 11-2 Exploded view of a dc motor [Source: Electro-Craft Corporation].

2020 by N. Mohan
 5-3

DC-Machine Equivalent Circuit

dia
va  ea  Ra i a  La
dt
d m 1
 (Tem TL )
dt J eq
Tem
ia 
kT

Ra

PPU Va La


 ea  kEm


Figure 11-3 DC motor equivalent circuit.

2020 by N. Mohan
 5-4

Torque-Speed Characteristics

Va  k E m  Ra I a
Tem (  TL )
Ia 
 constant at its rated value
f
kT
m Va1  Va2  Va3  Va4
Va
m, rated Va1  rated
 constant at its rated value
Va2 f
Va3 m Va1  Va2  Va3  Va4
V  rated Va
Va4 m, rated a1
Va2
0
0
rated Tem m Va3
(a ) (b) Va4
Figure 11-4 (a) Torque-Speed characteristics, and (b) Va versus m .
0
0
rated Tem m
(a ) ( b)

Figure 11-4 (a) Torque-Speed characteristics, and (b) Va versus m .

2020 by N. Mohan
 5-5

Feedback Control Objectives

error error P Electric output
desired Mech
(reference) +  amplifier P Machine Load
signal -   U 
Electrical    
System Mechanical
System
measured output signal

 Feedback control
 makes system insensitive to disturbances and
parameter variation

Controller Plant
 Control Objectives *
X (s) E (s) X (s)
 
Gc ( s ) G p (s)
 Zero steady-state error 

 Good dynamic response

- fast
- small overshoot

2020 by N. Mohan
 5-6

Definitions
 Open loop 100

50
GOL ( s )  Gc ( s )G p ( s ) GOL
0
 Closed loop
-50 fc , c
-50

GCL ( s )  GOL ( s ) /(1  GOL ( s )) -100

 Crossover frequency GOL
-150 phase
180 o margin
fc ,c -200 -2 -1 0 1 2
10 10 10 10 10
 Gain Margin frequency

 Phase Margin
GCL ( j )
> 45 for no oscillations
o
0 dB 
3dB
60o preferable BW

 Closed loop bandwidth  fc

desired high for fast response

2020 by N. Mohan
 5-7

Example

GOL ( s )  KOL / s ; KOL  2  10 3

GOL ( s )
(dB) x* (t )
 c  2  10 3
0 log   x(t )
0.632
GCL ( s )
(dB)
0 log 
20 dB / decade

closed loop step response

2020 by N. Mohan
 5-8

Cascaded Control
speed* torque* torque speed

position* Torque Electrical Mech 1 position

Position Speed
 controller  controller  controller System System s
  
torque(current)
speed
position

 Torque loop : fastest

 Speed loop : slower

 Position loop : slowest

2020 by N. Mohan
 5-9

Steps in Designing the Controller

 Assume system is linear about the steady state
operating point  design controller using Linear Control Theory
 Simulate design under large signal conditions
and “tweak” controller as necessary

System representation for small signal analysis

 Assume
 Steady state system operating point = 0
 Highest bandwidth at least an order of magnitude lower than
switching frequency  neglect switching frequency components

2020 by N. Mohan
 5-10

Averaged Representation of the PPU

id (t )
id
idA idB
iA ia ia (t )

   
Vd B v Vd 
A a ea 1 d (t )
  iB va t  ea
 
i A  ia 
N iB   ia 
vcontrol t 
1
vcontrol t  q A t  Vˆtri
d t   d A t   d B t 
qB t 

va (t )  k PWM vc (t ) Va ( s )
Vc ( s ) k
PWM

Va ( s )  k PWM Vc ( s )

2020 by N. Mohan
 5-11

Modeling of DC Machines and

Mechanical Load Combinations
T
ia  em
kT
d ia (t )
va (t )  ea (t )  Ra ia (t )  La  Ra
dt
ea (t )  k E  m (t ) va 
La
Tem
ea  k E  m m
_
Va ( s )  Ea ( s )  ( Ra  s La ) I a ( s )  TL
JM
JL
V ( s )  Ea ( s )
 I a (s)  a ; Ea ( s )  k E  m ( s )
( Ra  s La )
TL ( s )

Tem ( s )  kT I a ( s ) Va ( s ) 1 I a (s)
kT 

1 m  s 
 Ra  sLa sJ eq
 Tem ( s )
Tem ( s )
 m (s) 
sJ eq kE

2020 by N. Mohan
 5-12

PI Controller
vc, p ( s )
kp
G (s)
   p   

X * (s) vc,i ( s )  X (s)

ki
 E (s) s 
vcontrol ( s)
        
Gc ( s )

vc ( s ) ki ki  s 
 k p   1 
E (s) s s  ki / k p 

 Proportional-Integral (PI) Controller

 In the torque and speed loops, proportional control
without integral control input leads to steady-state error

2020 by N. Mohan
 5-13

Controller Design
 Procedure

 Design torque loop (fastest) first

 Design speed loop assuming torque loop to be ideal

 Design position loop (slowest) assuming speed loop to be ideal

2020 by N. Mohan
 5-14

Design of the Torque (Current) Loop

Simplifying assumptions TL
I a* ( s ) V (s) 1 / Ra I a (s) Tem  1 m
k PWM a  
  PI
1  s e
kT
  sJ
 

kE
I a (s)


 Interleaved I a* ( s ) Va ( s ) 1 / Ra I a (s) Tem 1 m
 PI k PWM   kT
 1  s e sJ
loops redrawn  

as nested loops k E kT
I a (s) sJ

 Assuming J 
I a* ( s ) kiI  s  Va ( s ) 1 / Ra I a (s)
  1  k PWM
high enough, inner 
s  kiI / k pI 
 1  s e

loop can
be ignored I a (s)

kiI  s  1 / Ra
GI ,OL ( s )   1   k PWM
s  kiI / k p     1  s e
       PPU   
PI controller motor

2020 by N. Mohan
 5-15

Design of the Torque (Current) Loop

Selecting Parameters
I a* ( s ) kiI  s  Va ( s ) 1 / Ra I a (s)
  1



k PWM
s  kiI / k pI  1  s e


I a (s)

k pI
 Select zero of PI to cancel motor pole ;  e
kiI
k I ,OL k k
 GI ,OL  ; ki,OL  iI PWM
s Ra
 Choose k to achieve desired cross-over frequency k I ,OL  CI
iI
60 0
Magnitude (dB)

Magnitude (dB)
40
-10
20
0
-20
-20
-40 -30
0 1 2 3 4 5 0 1 2 3 4 5
10 10 10 10 10 10 10 10 10 10 10 10
Frequency (Hz) Frequency (Hz)
-89 0

-89.5
Phase (deg)

Phase (deg)

-90 -50

-90.5

-91 -100
0 1 2 3 4 5 0 1 2 3 4 5
10 10 10 10 10 10 10 10 10 10 10 10
Frequency (Hz) Frequency (Hz)

open loop closed loop

2020 by N. Mohan
 5-16

Design of the Speed Loop

*
m ( s) I a* ( s ) I a (s) Tem ( s ) 1  m ( s)
PI 1 kT
 Js


 m ( s)

 Assume current loop to be ideal  represent by unity

 Choose crossover frequency C an order of magnitude lower than CI
 Choose a reasonable phase margin  PM ,
open loop closed loop
20
150
0

Magnitude (dB)
100
Magnitude (dB)

-20
50
-40
0
-60
-50 -1 0 1 2 3 4 5
-1 0 1 2 3 4 5 10 10 10 10 10 10 10
10 10 10 10 10 10 10
Frequency (Hz)
Frequency (Hz) 0
-50
Phase (deg)
Phase (deg)

-100
-50

-150

-100
-200 -1 0 1 2 3 4 5
-1 0 1 2 3 4 5 10 10 10 10 10 10 10
10 10 10 10 10 10 10
Frequency (Hz)
Frequency (Hz)

2020 by N. Mohan
 5-17

Design of the Position Loop

* *
m ( s) k p
m ( s)  m ( s) 1  m ( s)
1
+ s


 Assume speed loop to be ideal

 Proportional gain (k P ) alone is adequate due to presence of pure
k P
integrator G ,OL   k P  CP
s
50 0

Magnitude (dB)
Magnitude (dB)

-20
0
-40

-50 -60
-1 0 1 2 3 4 -1 0 1 2 3 4
10 10 10 10 10 10 10 10 10 10 10 10
Frequency (Hz) Frequency (Hz)
-89 Phase (deg) 0

-89.5
Phase (deg)

-90 -50

-90.5

-91 -100
-1 0 1 2 3 4 -1 0 1 2 3 4
10 10 10 10 10 10 10 10 10 10 10 10
Frequency (Hz) Frequency (Hz)

open loop closed loop

2020 by N. Mohan
 5-18

Further Issues
 Feed-forward: To improve dynamic response
Process computer
position* speed*ff torque*ff
 
position
Position Speed Torque Electrical Mech 1

 controller   controller controller System System s
 
* torque* torque(current)
speed
speed
position
Vˆtri Vd

 Effect of limits I a* ( s ) kiI  s  1 / Ra I a (s)

1  k PWM
 s  k / k  1  s e
  iI pI 
- nonlinearity
Vd
Vˆtri

kp cp
max
co
 Anti-windup integration input
 co '

- suspend integration ci min

ki
when output saturates
0 max  | co ' |

2020 by N. Mohan
 5-19

Hardware Prototyping
 DC Motor closed loop speed control

 Speed reference step from 0 to 100 rad/s at time t = 1 s

https://sciamble.com/Resources/pe-drives-lab/basic-drives/dc-speed-control

2020 by N. Mohan
 5-20

Hardware Prototyping

2020 by N. Mohan
 5-21

Summary
 What are the various blocks of a motor drive?
 What is a cascaded control and what are its advantages?
 Draw the average models of a PWM controller and a
dc-dc converter.
 Draw the dc-motor equivalent circuit and its representation
in Laplace domain. Is this representation linear?
 What is the transfer function of a proportional-integral (PI)
controller?
 Draw the block diagram of the torque loop.
 What is the rationale for neglecting the feedback from speed
in the torque loop?
 Draw the simplified block diagram of the torque loop.
 Describe the procedure for designing the PI controller in the
torque loop.

2020 by N. Mohan
 5-22

Summary
 How would we have designed the PI controller of the torque
loop if the effect of the speed were not ignored?
 What allows us to approximate the closed torque loop by
unity in the speed loop?
 What is the procedure for designing the PI controller in the
speed loop?
 How would we have designed the PI controller in the speed
loop if the closed torque-loop were not approximated by unity?
 Draw the position-loop block diagram.
 Why do we only need a P controller in the position loop?
 What allows us to approximate the closed speed loop by
unity in the position loop?
 Describe the design procedure for determining the controller
in the position loop

2020 by N. Mohan
 5-23

Summary

 How would we have designed the position controller if the

closed speed loop were not approximated by unity?
 Draw the block diagram with feed-forward. What are its
advantages?
 Why are limiters used and what are their effects?
 What is the integrator windup and how can it be avoided?

2020 by N. Mohan