WSB004 CW1

DC Motor Laboratory 1
WSB004
“Speed control of a DC motor”
Module Code and Title: WSB004 - Control Systems Design

Coursework Title: DC Motor Laboratory 1
Weighting of Module: 10 %
Deadline: Electronic submission
Lab Report For:
ID Number(s):
To complete this lab: fill in the blank sections of this report. The graphs in section B will require
printing out then scanning back in before submission. Ensure work is clear and scanned to a good
standard before submitting.
The work must be submitted as a single PDF for marking
Exercise A: Page 1 of 12
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Exercise A: Characterise the system in the time domain

Aim: To experimentally obtain and validate a first order model approximation of the DC motor
Introduction
It has been shown in lectures how a DC motor's velocity can be approximated as a first order system
by neglecting the contributions of friction and inductance in deriving the dynamic equations. It can
be stated that the motor speed (θ̇ ) as a response to an armature voltage (V A ) is given by the
following transfer function:
θ̇ (s) K
=
V A (s) τs+1
Where: K is the gain,  is the time constant, θ̇ is motor speed and

V a is the voltage applied to the
motor
In order to complete this model, all that is required is a numerical value for the gain of the system ‘K’
and one for the time constant ‘τ ’. Typically, this has been found through first principles analysis of
the system physics, but in this case these numbers will be obtained through experimental results on
the DC motor rig.
In this experiment we will measure the step response of the motor and calculate the time constant 
and the gain K for the model. We will then run a comparison with the motor and compare the
response of the first order model and the motor data, in both the time and frequency domain.
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Tasks
A1. Obtain Open-Loop Step Response
This graph was obtained from open-loop experiment using the DC Motor. The input is a step of -5 to
+5V.
200
150
100
50
-50
-100
-150
-200
-0.1 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
-5
-0.1 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Figure 1 - Time response of DC motor speed to a step input
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A2. Find K and τ.

Take the appropriate measurements from the graph and calculate the gain (K) and the time constant
(τ). Write down the units of each parameter
Note:
 τ is the time taken for the system output to reach 63% of its final steady state value in
response to a step input.
 K is the change in steady state output divided by the change in the input.
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A3. Verification
The data used to create Figure 1 is provided in a ‘.mat’ data file. Using Matlab, create a simulation
that compares your first order model to this data. Create a single graph with 2 plots on that show
the time response of the DC motor and your first order model.
[Delete this and copy the graph here]
A4. Reflection
How well did the first order model would match the motor output? Can you suggest reasons for any
differences?
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Exercise B: Characterise the System in the Frequency Domain

Aim: Validate the linear model in the frequency domain using experimental results
Introduction
In this experiment we will sketch a straight line approximation of the first order motor model
obtained from Exercise A. This will be compared to experimental results that measure the open-
loop frequency response of the motor. The assumption is taken that the motor is a first order
system, described by the following transfer function:
B1: Drawing a straight line approximation of the Frequency Response

This section is based on the guidance on how to sketch a first order frequency response that can
be found in Part C of the module course notes. Refer to these for guidance.
Using the values for ‘K’ and ‘tau’ obtained, draw a straight line approximation for the frequency
response of the first order system identified in Part A on the axis below.
40
20
Gaind (dB)
-20
-40
10-1 100 101 102 103
0
Phase (degrees)
-45
-90
-135
-180
10-1 100 101 102 103

Frequency (rad/s)
Figure 2 - Frequency Response of DC motor speed
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B2. Experimentally obtain frequency response

To complete this exercise, you will need to print the pages containing the graphs, then scan in the
annotated graphs to submit your work.
The aim of this section is to compare the first order model obtained to experimental data, but this
time in the frequency domain.
Using the experimental results in the following graphs, measure the phase and gain response at each
test condition (changing input frequency). The graphs have been obtained by measuring the output
speed of the motor to a sinusoidal voltage input of varying frequency but of a fixed amplitude of
5 V pk .
There is a document included in the pack showing you how to easily measure the attributes
required.
Task 1: Measure values and capture the results in the table below.
NOTE: For ease of observation, the Voltage Readings are a different scale to the velocity readings!
The numerical values of voltage ONLY have been multiplied by 10 before plotting – otherwise the
sinewave input would look like a flat line and not be measurable.
Test Frequency Gain Phase Lag

(rad/s) (dB) (Degrees)
Task 2: Plot the experimental points on Figure 2 in order to compare them to the straight line
approximation
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Captured Data:
Input Frequency = 1.26 rad/s

200
150
100
50
-50
-100
-150
-200
10 11 12 13 14 15 16 17 18 19 20

150
100
50
-50
-100
-150
2 2.2 2.4 2.6 2.8 3 3.2 3.4 3.6 3.8 4
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50
40
30
20
10
-10
-20
-30
-40
-50
0.5 0.55 0.6 0.65 0.7 0.75 0.8 0.85 0.9 0.95 1

50
40
30
20
10
-10
-20
-30
-40
-50
0.25 0.3 0.35 0.4 0.45 0.5
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Input Frequency = 126 rad/s

50
40
30
20
10
-10
-20
-30
-40
-50
0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.2
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B3 Observations
Comment on your results. Does your experimentally obtained results match the straight line
approximation? What differences do you notice and why might these occur?
[write your response here]
B4 Summary
Is the first order model appropriate for use in designing control systems. Discuss briefly here.
[write you response here]

WSB004 CW1

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DC Motor Laboratory 1

Module Code and Title: WSB004 - Control Systems Design

Lab Report For:

The work must be submitted as a single PDF for marking

Exercise A: Characterise the system in the time domain

Where: K is the gain,  is the time constant, θ̇ is motor speed and

Figure 1 - Time response of DC motor speed to a step input

A2. Find K and τ.

[Delete this and copy the graph here]

Exercise B: Characterise the System in the Frequency Domain

B1: Drawing a straight line approximation of the Frequency Response

10-1 100 101 102 103

Figure 2 - Frequency Response of DC motor speed

B2. Experimentally obtain frequency response

Test Frequency Gain Phase Lag

Input Frequency = 1.26 rad/s

Input Frequency = 6.28 rad/s

Input Frequency = 25.1 rad/s

Input Frequency = 50.3 rad/s

Input Frequency = 126 rad/s

[write your response here]

[write you response here]

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