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Electromechanical Drive Systems – Laboratory
TASK 2
Class 3:
Controllers tuning for DC drive
- build the mathematical model of DC drive with cascade current and speed controller, which consists of
the basic dynamic blocs only (first order element, integral element, gains, etc …), converter model
simplified to 1-order transfer function, mathematical model of machine equations.
- controllers must be tuned using proper criterions and simplifications
- settings must be verified based on simplified and full mathematical models for each controller
- compare the drive system with linear PI controllers and the controllers with anti-windup
- implement the tuned controllers structure (with anti-windup ) for the drive model with power
electronic converter
Report requirements:
- present the results from each controller tuning stage (e.g. current controller tuning on simplified
model, current controller verification on full model, speed controller tuning on simplified model, etc… )
- present the comparison of two model variants: the drive system variant with linear PI controllers and
the one with PI controllers with unit-windup.
- show the comparison of open-loop drive (class 2) and closed loop drive based on the same reference
speed and load profile. What are the most important differences?
Class 4
Implementation of controllers in C-code
- implement the discrete formula for integral element in a block with C-code
- implement linear PI controller in C-code
- implement PI controller with anti-windup in C-code
- implement entire control structure in one block with C-code and verify the operation with the power
electronic model of the converter and DC machine (hybrid model).
Report requirements:
- present a comparison of the discrete integral and continuous one for different sampling frequencies
and different types of error signal: step, ramp, sinus. How type of signal and frequency influence on the
results of the comparison.
- present the validation of each PI controller structure implemented in C-script, in comparison with the
continuous model made from PLECs blocks
- show a validation of the entire drive model with power electronic model of the converter and the
control system in C-script.