26/4/2022

BEKE 4753 Electrical Drives

DC MOTOR DRIVES
(Controller for DC Motor Drives)
(Module 5)

SWITCHING BASED ON HYSTERESIS CONTROLLER

Basic Comparator – Zero Crossing Detector

vtri

vtri 
q t
 0

1 if v tri  0
q t
0 if v tri  0
0

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SWITCHING BASED ON HYSTERESIS CONTROLLER

Hysteresis Comparator

vtri

vtri  UB
q t HB
0
 LB

t
0

HYSTERESIS BASED CURRENT CONTROLLER

Current Control based on Hysteresis

comparator – Single Quadrant

T1 CT ia

+ +
VDC q Vo
D1
- -

ierr
ia* 
q

ia

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HYSTERESIS BASED CURRENT CONTROLLER

Simulation Result
100
Hysteresis Based Current
80 ia* Controller
60
Current always follow its
40 ia reference.
20
Current error & current
0
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04
ripple is restricted
80 within the hysteresis band
60
ierr
Sharp current increase
40 when Vo = VDC (i.e. IGBT
20 ON). Otherwise current
UB decays slowly if Vo = 0V
0 HB (i.e. IGBT OFF)
LB
-20
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04
Allow current to be
200 controlled in one
100
vo direction, i.e. positive
current.
0

0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04

HYSTERESIS BASED CURRENT CONTROLLER

Current Control based on Hysteresis

comparator – Four Quadrants

q D1 D3
T1 T3 q
+ + Vt -
VDC CT
-
q T4 T2 q
D4
D2


ierr
ia* q ia

q

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HYSTERESIS BASED CURRENT CONTROLLER

Simulation Result
100
Hysteresis Based Current
50 Controller

0
ia Current always follow its
reference.
-50
ia* Current error & current
-100
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 ripple is restricted
100 within the hysteresis band
50
ierr Sharp current increase
0 when Vo = VDC (i.e. T1&T2
ON). Otherwise, sharp
-50 current decreases if Vo =
-100 -VDC (i.e. T3&T4 ON)
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04
200 Allow current to be
controlled in positive &
0 vo negative modes.

-200
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04

CARRIER BASED CURRENT CONTROL

Carrier Based Current Control – Four

Quadrants

q D1 D3
T1 T3 q
+ + Vt -
VDC CT
-
q T4 T2 q
D4
D2


ierr  ia
ia* q
PI
 
q

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HYSTERESIS VS CARRIER –BASED CONTROLLER

Hysteresis Based Current Carrier Based Current

Controller Controller

Advantages: Advantages:
High bandwidth, i.e. fast Constant switching frequency
dynamic response
Improved switching
Simple structure performances

Robust Easy to design filter

Disadvantages: Disadvantages:
Variable switching frequency Require a PI controller, Slow
(may degrade switching dynamic response
performances)

DESIGN OF PI CONTROLLER FOR DC MOTOR

A Cascade Control Structure

Position PI Speed PI Torque PI Switching Mode

controller controller controller Conv erter

* + Te * + CT
* + Terr TPI
Motor
- - -

Te ia Tachometer
kT



1/s

Important Features:
• The control variable of inner loop (e.g. torque) can
be limited by limiting its reference value.
• It is flexible – outer loop can be readily added or
removed depending on the control requirements

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DESIGN OF PI CONTROLLER FOR DC MOTOR

Design Procedures for the Cascade Control

System

 The first step is to assume that around the steady-state

operating point, the input reference changes and load
disturbances are all small. In such a SMALL-SIGNAL
ANALYSIS, the overall system can be assumed to be linear
around the steady-state operating point, thus allowing the
basic concepts of linear control theory to be applied.
 Based on the linear control theory, once the controller
has been designed, the entire system can be simulated on a
computer under LARGE SIGNAL conditions to evaluate the
adequacy of controller. The controller must be 'adjusted'
as appropriate.

DESIGN OF PI CONTROLLER FOR DC MOTOR

1) Obtain Small Signal Models

1.1 Permanent Magnet DC Motor
dia dω m
vt  iaRa  La  ea Te  J  Bω m  TL
dt dt

ea  kEω Te  kTia

Extract the dc and ac components by introducing small

perturbations in V t, i a, e a, T e, T L and  m

ac components dc components
~
~ d ia ~
~ i
v t R
a a  La dt  ea Vt  Ia R a  Ea
~ ~
Te  kEia Te  k EIa
~ k ω
e ~ Ee  k E 
a E
~
~ ~ ~  J dω
Te  TL  Bω Te  TL  Bω
dt

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DESIGN OF PI CONTROLLER FOR DC MOTOR

1) Obtain Small Signal Models

1.1 Permanent Magnet DC Motor
Perform Laplace Transformation on ac components;

~
~ d ia ~
~ i
v t aR a  La dt  ea Vt(s) = Ia (s)Ra + L a sIa + Ea (s)

~ ~
Te  kEia T e (s) = kEIa (s)

~ k ω
~
ea E Ea (s) = kE(s)

~
~ ~ ~  J dω
Te  TL  Bω T e (s) = T L(s) + B(s) + sJ(s)
dt

DESIGN OF PI CONTROLLER FOR DC MOTOR

1) Obtain Small Signal Models

1.1 Permanent Magnet DC Motor
Applying Motor equations (in S-domain) to model a small
signal model of the PM DC Motor

TL (s)
-
Vt (s) + 1 Ia (s) Te (s) + ω(s)
1
kT
sLa  R a sJ  B
-

kE

Vt(s) = Ia (s)Ra + L a sIa + Ea (s) Ea (s) = kE(s)

T e (s) = T L(s) + B(s) + sJ(s) T e (s) = kEIa (s)

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DESIGN OF PI CONTROLLER FOR DC MOTOR

1) Obtain Small Signal Models

1.2 Switching Mode Converter with Carrier Based
Controller

q D1 D3
T1 T3 q
+ + Vt -
VDC CT
-
q T4 T2 q
D4
D2


Terr TPI 
Te* q ia
PI
 
q

kT

DESIGN OF PI CONTROLLER FOR DC MOTOR

1) Obtain Small Signal Models

1.2 Switching Mode Converter with Carrier Based
Controller
Ttri Averaging the signals
+Vp,tri
1 t  Ttri t on
TPI
d
Ttri 
t
q.dt 
Ttri
(1)
-Vp,tri

q 1  dTtri
Vdc dt   - Vdc dt 
Ttri
1 d
Vt  
Ttri  0 dTtri 
0

1
Vdc .dTtri  Vdc 1  d Ttri 
+Vdc Ttri
 Vdc 2.d  1
Vt
0 (2)
-Vdc

ton

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DESIGN OF PI CONTROLLER FOR DC MOTOR

1) Obtain Small Signal Models

1.2 Switching Mode Converter with Carrier Based
Controller

Relationship between d and TPI

d

1 TPI
d  0.5  (3)  Y  mX  C
0.5 2Vtri,p
0 TPI
-Vtri,p Vtri,p

The transfer function of the Switching Mode

Converter (by solving (2)&(3)):
Vt(s) Vdc

TPI(s) Vtri,p

DESIGN OF PI CONTROLLER FOR DC MOTOR

1) Obtain Small Signal Models

1.3 PI Controller

kPT
Te * (s) + Terr (s) +
TPI (s)
- +
kIT
s
Te (s)

ac components
Laplace
Transformation
T (s)
 TPI(s) Terr(s).kPT  kIT err
~ ~ ~
TPI  Terr.kpT  kiT Terr.dt
s

The transfer function of the PI Controller:

k
s. PT  1
TPI(s) kIT
 kIT
Terr(s) s

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DESIGN OF PI CONTROLLER FOR DC MOTOR

1) Obtain Small Signal Models

1.4 Complete Small Signal Model for a Torque Control Loop

Permanent Magnet DC Motor TL(s)

Te*(s)
+ Terr(s) k TPI(s) Vt(s)+ Ia(s) Te(s) + - ω(s)
s. PT  1 Vdc 1 1
kIT
kIT
Vtri,p sLa  R a kT sJ  B
- s -
PI Torque Converter

kE

Extension: with an outer Speed Control Loop

ω*(s)
+ ωerr(s) k
s. Pω  1
TPIω(s) Te*(s)
kIω
kIω
s
-
PI Speed Limiter

DESIGN OF PI CONTROLLER FOR DC MOTOR

2) Design Controllers based on Linear Small

Signal Model.
2.1 Design of the Torque Control Loop

Permanent Magnet DC Motor TL(s)

Te (s)
*
+ Terr(s) k TPI(s) Vt(s)+ Ia(s) Te(s) + - ω(s)
s. PT  1 Vdc 1 1
kIT
kIT
Vtri,p sLa  R a kT sJ  B
- s -
PI Torque Converter

kE

The open-loop transfer function:

k  s  Vdc 1 Ra
GT,OL(s) IT 1  . . .kT
s  kIT kPT  Vtri,p 1  s
Ra La
PI Torque Converter DC Motor

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DESIGN OF PI CONTROLLER FOR DC MOTOR

2.1 Design of the Torque Control Loop

OBJECTIVES:
• Fast response – large bandwidth
• Minimum overshoot - good phase margin (>65 o)
• Zero steady state error – very large DC gain

Example:
20log(G OL(s))
A
GOL(s)
s
Slope = 20dB/dec
BW=ωc where,
ωc
A is a DC gain = 100
S = jω

Crossover frequency:
ωc = A

Φpm =900

DESIGN OF PI CONTROLLER FOR DC MOTOR

2.1 Design of the Torque Control Loop

A Simple Design Procedure to select the gain constants of
the PI controller such that a phase margin of 900 can be
obtained, is suggested as follows:

 Select the zero of PI controller to cancel the motor

pole, so that the open-loop transfer function to be:

k  s  Vdc 1 Ra X
GT,OL(s) IT 1  . . .kT  T
s  kIT kPT  Vtri,p 1  s s
Ra La

PI Torque Converter DC Motor

 Under these conditions:

kIT R a Vdc
 and XT  kIT. .1 Ra.kT
kPT La Vtri,p

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DESIGN OF PI CONTROLLER FOR DC MOTOR

2.1 Design of the Torque Control Loop

 The open-loop transfer function, G T,OL(s) = XT/s results
in the crossover frequency ω cT = XT.

 Select the crossover frequency of the torque current-

loop to be approximately one or two orders of
magnitude smaller than the switching frequency of the
converter in order to avoid interference due to
switching-frequency noise.
For example:
2πftri 
ωcT  (two orders smaller)
100

 Therefore, at the selected crossover frequency, the

integral gain constant, k IT can be calculated as:
Vtri,p
kIT . .1 kT.Ra.ωcT
Vdc

DESIGN OF PI CONTROLLER FOR DC MOTOR

2.1 Design of the Torque Control Loop

EXAMPLE of a Controller Design
Design the torque control loop for the DC Motor drive
system of table below.

DC Motor Drive System

System Parameter Value
Armature resistance, Ra 2.0 Ω
Armature inductance, La 5.2 mH
Inertia, Jeq 152 µkg.m2
Friction, B 0
Back emf constant, kE 0.1 V/rad/s
Torque constant, kT 0.1 Nm/A
Triangular peak vtri,p 5 V
Switching frequency, ftri 50 kHz
Input DC voltage, Vdc 60 V

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DESIGN OF PI CONTROLLER FOR DC MOTOR

2.1 Design of the Torque Control Loop

EXAMPLE of a Controller Design
Solution:
Choose the crossover frequency to be approximately one or
two orders of magnitude smaller than the switching
frequency of the converter.
f 
ωcT  2π tri  3141.6 rad/s (two orders smaller)
100

At the selected ω cT, calculate the gain constant k IT

Vtri,p
kIT . .1 kT.Ra.ωcT  5233.33
Vdc

Then, calculate the gain constant k PT

L
kPT  kIT. a  13.61
Ra

DESIGN OF PI CONTROLLER FOR DC MOTOR

2.1 Design of the Torque Control Loop

EXAMPLE of a Controller Design

Verification via Matlab Simulation:

1
1 kpt Vdc/vtri Kt
Tref La.s+Ra Te
In1
Gain7 Transfer Fcn3 Gain4
Gain6
1
kit
s
Gain9 Integrator1

k  s  Vdc 1 Ra X
GT,OL(s) IT 1  . . .kT  T
s  kIT kPT  Vtri,p 1  s s
Ra La

PI Torque Converter DC Motor

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DESIGN OF PI CONTROLLER FOR DC MOTOR

2.1 Design of the Torque Control Loop

EXAMPLE of a Controller Design
Verification via Simulation:

BW=ωcT=3141.6 rad/s

Φ pm,T=90 0

DESIGN OF PI CONTROLLER FOR DC MOTOR

2.2 Design of the Speed Control Loop

 Select the bandwidth of the speed loop to be one order

of magnitude smaller than that of the torque loop.
For example:

ω
ωcω  cT
10

 For simplification, the closed-torque loop can be

assumed ideal and represented by unity.

ω*(s) ωerr(s) k Te*(s) Te(s) ω(s)

+ s. Pω  1 1
kIω 1
kIω sJ  B
s
-
PI Speed Torque DC Motor
control
loop

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DESIGN OF PI CONTROLLER FOR DC MOTOR

2.2 Design of the Speed Control Loop

 The open-loop transfer function:

k  s  1
Gω,OL(s) Iω 1  .  1 .
s  kIω kPω  sJeq

Speed PI Torque DC Motor

Controller Control
Loop

or, it can be rearranged as:

s
1
kIω kIω kPω
Gω,OL(s) .
Jeq s2

DESIGN OF PI CONTROLLER FOR DC MOTOR

2.2 Design of the Speed Control Loop

s
1
kIω kIω kPω
Gω,OL(s) .
Jeq s2

This shows that the open-loop transfer function consists

of a double pole at the origin. At low frequencies in the
Bode Plot, this double pole at the origin causes the
magnitude to decline at the rate of -40 dB per decade,
while the phase angle is at -180 0.

Select the crossover frequency ω cω to be one order of

magnitude smaller than that of the torque loop.
Similarly, we can choose a reasonable value of the phase
margin Φpm,ω.

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DESIGN OF PI CONTROLLER FOR DC MOTOR

2.2 Design of the Speed Control Loop

 Therefore, the two equations below at the crossover

frequency can be solved to calculate the two gain
constants of the PI controller.

s
1
kIω kIω kPω
.  1 --- (1)
Jeq s2
sjωcω

and,

s
1
kIω kIω kPω
 .  -180 Φ pm,ω --- (2)
Jeq s2
sjωcω

DESIGN OF PI CONTROLLER FOR DC MOTOR

2.2 Design of the Speed Control Loop

 Derivation to obtain gain constants.

From equation (1):

s
1
kIω kIω kPω kIω kPω
.  - j  1
Jeq s2 Jeq.ωcω2 Jeq.ωcω
sjωcω

Applying this theorem: a  jb  a2  b2  1

2 2
  
1   - kIω     kPω 
 Jeq.ωcω2   Jeq.ωcω 
 

1 k 2 
  Iω  k 2 
2 2 2 Pω  --- (3)
Jeq .ωcω  ωcω 

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DESIGN OF PI CONTROLLER FOR DC MOTOR

2.2 Design of the Speed Control Loop

 Derivation to obtain gain constants.

From equation (2):

s
1
kIω kIω kPω
 .  -180 Φ pm,ω
Jeq s2
sjωcω

 b
Applying this theorem: a  jb  tan-1    -180 Φ pm,ω
a

 
   kPω  
      J .ω  
-180 Φ pm,ω   
kIω     j kPω   tan-1  
eq cω  
 J .ω 2   Jeq.ωcω   
 eq cω     kIω 
  J .ω 2  
  eq cω  

DESIGN OF PI CONTROLLER FOR DC MOTOR

2.2 Design of the Speed Control Loop

or it can be rearranged as:

 
  kPω 
 Jeq.ωcω 

tan -180 Φ pm,ω  

 

 kIω 
 Jeq.ωcω2 
 

k 
 
kPω  tan -180 Φ pm,ω . Iω  --- (4)
 ωcω 

 Substitute eqn (4) into (3) to obtain a quadratic

equation in terms of kIω :

k 2   2
 kIω2   kIω   
1
1  Iω  k 2  
Pω 
1
2

2 
tan - 180  Φ  .
pm,ω   
 
Jeq2.ωcω2  ωcω2 2
 Jeq .ωcω  ωcω   ωcω   


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DESIGN OF PI CONTROLLER FOR DC MOTOR

2.2 Design of the Speed Control Loop

 Solve the quadratic equation to obtain the kIω :

Jeq.ωcω2
kIω 
1  tan-180 Φpm,ω 2 --- (5)

 Then, k Pω can be calculated using (4):

k 
 
kPω  tan -180 Φ pm,ω . Iω  --- (4)
 ωcω 

DESIGN OF PI CONTROLLER FOR DC MOTOR

2.2 Design of the Speed Control Loop

EXAMPLE of a Controller Design
Design the speed control loop for the DC Motor drive
system of Table 1.
Solution:
Choose the crossover frequency to be one order of
magnitude smaller than that of the torque loop. The phase
margin is selected to be 89 0.

ω
ωcω  cT  314.16 rad/s
10

Applying equations (5) and (4);

Jeq.ωcω2
kIω   0.2618
1  tan-180 Φpm,ω 2
k 
 
kPω  tan -180 Φ pm,ω . Iω   0.0477
 ωcω 

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DESIGN OF PI CONTROLLER FOR DC MOTOR

2.2 Design of the Speed Control Loop

EXAMPLE of a Controller Design

Verification via Matlab Simulation:

Tref 1
1 kpw 1
wref Te J.s+B w
In1
Gain7 Gain4 Transfer Fcn4
1
kiw
s
Gain9 Integrator1

Torque
Speed PI DC Motor
Control
Controller
Loop

DESIGN OF PI CONTROLLER FOR DC MOTOR

2.2 Design of the Speed Control Loop

EXAMPLE of a Controller Design
Verification via Simulation:

BW=ωcT=314.16 rad/s

Φ pm,ω=89 0

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DESIGN OF PI CONTROLLER FOR DC MOTOR

2.3 Large Signal Simulation

[S1] C ontinuous
[S2]
Ideal Switch
From From7 No Snubber, Ron,Vf=0

g
C

g
C
+ v [vL] powergui
- Vt [ia] 0
TL
Goto1
Goto2

E
Constant Dr. Auzani Jidin <PEDG Research Group>

E
1
i Kt [w]
+ Te w
- J.s+B
Gain3 Goto6
iA Transfer Fcn
[S2] [S1]
From6 From8
g
C

Ke

g
Ra, La

C
Gain4
E

+
EMF

s
-
[Te]

Goto5
[Tref]
Goto3

kpw kpt
>= [S1]
Signal Gain5 Saturation Gain1 Goto
Generator Relational
1 1 Operator [S2]
kiw kit
s s
Repeating Goto4
Gain6 Integrator1 Gain2 Integrator Sequence Logical
Operator

DESIGN OF PI CONTROLLER FOR DC MOTOR

2.3 Large Signal Simulation

100
Speed

-100
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4

1
Torque

-1

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4

10
Current

-10

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4

Time (s)

20