The Comparative Analysis of Modelling of Simscape

Physical Plant System Design and Armature-

Controlled System Design of DC Motor
Schagin Anatolii1, Ye Naung2, Htin Lin Oo3, Zaw Min Khaing4, Kyaw Zaw Ye5
Department of automatic control system and control
National Research University of Electronic Technology
Zelenograd, Moscow, Russia
1
schagin4@rambler.ru, 2ynaung53@gmail.com, 3 htinlinoo53@gmail.com, 4 zawminkhaing51@gmail.com,
kyawzawye85@gmail.com

Abstract—In many fields of science, technology and
production uses fast processes, high-speed devices, higher modes
and interaction among different objects and materials. In this
regard, there is the problem of developing fast actuators that
could support and implement high speed movement of the
various actuators. DC motors are widely used in industry,
transportation, robotic control system and other applications that
require a broad and smooth speed control (rolling mills, powerful
machine tools, electric traction in transport, etc.). Nowadays
stability and accuracy are required for the automatic control
system. This paper presents a DC motor speed controlling system
under load conditions and with Torque-variation is designed
using PID controller. A MATLAB/SIMULINK platform is used
to observe the system response of the DC motor with no-load and
full-load conditions. On the other hand, the physical design
requires that a mechanical system and its control system should
be designed as an integrated system. So, this paper discusses how
MATLAB and SIMULINK can be operated to ensure the PID
control of a mechatronic system design and Armature-Controlled
system.
Keywords—speed control; dc motor model; pid controller;
closed loop; load disturbances; simscape language
I. INTRODUCTION
DC motors were the first type widely used since they could
be powered by existing direct-current lighting power
distribution systems. DC motor's speed can be controlled over
a wide range, using either a variable supply voltage or by
changing the strength of current in its field windings. Small
DC motors are used in tools, toys, and appliances. The
universal motor can operate on direct-current but a lightweight
motor is used for portable power tools and appliances. Larger
DC motors are used in the propulsion of electric vehicles,
elevators and hoists, or in drivers for steel rolling mills. The
advent of power electronics has made replacement of DC
motors with AC motors possible in many applications [1].
Mostly, the feedback control system is a necessary
condition for the desired and higher system performance.
However, this feedback control system may be a slow
response. In order to get the fast dynamic response of the
system, many control strategies have been developed in
various control systems with feedback. Having the control
system is of much value because it enables accuracy and fast
tracking speed setting with a minimum of overshoot or
undershoot and having little or eliminated steady state error.
At present, a proportional–integral–derivative controller (PID
controller) becomes very popular and is commonly used in
industrial control systems. PID control system has higher
features like simple mathematical modelling, good reliability,
high reliability, stabilization, easy to operate and corrects the
error in the stationary state.
In this paper SIMULINK program is used, it is a
subprogram of the mathematical and simulation software
MATLAB. This software is used to model simulation design
and to show the results for the estimation of the transient
response of a DC motor. Mechatronics is a commonly used
term for describing the combination of electromechanical
physical systems with computer control. Simscape enables to
create rapidly models of physical systems within the
SIMULINK environment. With Simscape it is possible to
build physical component models based on physical
connections that directly integrate with block diagrams and
other modeling paradigms. Simscape enables to model
systems such as electric motors, bridge rectifiers, hydraulic
actuators, and refrigeration systems by assembling
fundamental components into a scheme [2]. The main goal of
this paper is that the physical plant model is encapsulated into
a Simscape subsystem completed with sensors, drivers, and
motors so that it can be connected to a PID controller. And
another important task is to compare the response of
armature-controlled design of the DC motor using
MATLAB/SIMULINK.
II. MATHEMATICAL DESCRIPTION
The DC motor is a common actuator in control systems. It
directly provides rotary motion and is coupled with wheels or
drums, cables and can provide translational motion. The
electric circuit of the armature and the free-body diagram of
the rotor are shown in (fig.1).

998 978-1-5090-4865-6/17/$31.00 ©2017 IEEE

 T ( s) K
. (9)
V (s) s[( R  Ls)( Js  b)  K 2 ]
From the block diagram in Figure 2, it is easy to see that
the transfer function from the input voltage V(s) to the angular
velocity Z is:
Fig.1. Schematic representation of the DC motor
Z ( s) K
The rotor and the shaft are assumed to be rigid. The . (10)
following values are the physical parameters of DC motor [3]: V ( s) ( R  Ls)( Js  b)  K 2
x moment of inertia of the rotor J ( kg. m); III. DC MOTOR MODELUSING ARMATURE-CONTROLLED
SYSTEM
x damping (friction) of the mechanical system b( Nms);
The transfer function of armature controlled system DC
x (back-)electromotive force constant K ( Nm/A); motor with the speed ω(s) = θ(s) to the applied armature
voltage V(s) as an input voltage source without load T(s) is
x electric resistance R (Ohm); given by equation (10). The block diagram of open loop
x electric inductance L (H); armature controlled system DC motor without load Torque is
shown in (Fig.2).
Motor torque T is related to the armature current i by a
constant factor K:
T = Ki (1)

The back electromotive force (emf) Vb is related to the

angular velocity by:
d
Vb = KZ = K (2)
dt Fig.2. SIMULINK diagram of armature controlled DC motor without load
conditions
From (Fig.1) we can write the following equations based
on Newton’s law combined with Kirchhoff’s law: The transfer function block of armature controlled system
DC motor with the speed (an angular velocity ω(s) to the
d 2T dT applied armature voltage V(s) with load T(s) is also depicted
J 2
b Ki; (3) in (Fig.3).
dt dt
di dT
L  Ri V  K . (4)
dt dt
Using the Laplace method transform equations (3) and (4)
can be written as:
Js 2T  bsT (s) KI (s), (5)
Fig.3. SIMULINK diagram of armature-controlled DC motor with load
LsI (s)  RI (s) V (s)  KsT (s), (6) condition

Where (s) denotes the Laplace operator. From (6) we can In this part, armature-controlled DC motor model for speed
express I(s): control under load condition is presented. The control system
of model consists of control loops for speed and armature
V ( s)  KsT ( s) (7) current. A proportional-integral- derivative (PID) controller is
I ( s) ,
R  Ls operated in this control system in order to get desired speed
armature-controlled DC motor and overcome the problems of
And substitute it in (5) to obtain: motor speed control under varying load conditions. There are
V ( s)  KsT ( s) various tuning methods used to configure the PID controller,
Js 2T ( s)  bsT ( s) K (8)
R  Ls such as the method of Ziegler-Nichols, a manual setting
method and setting method MATLAB. In this paper,
From equation (8), the transfer function from the input MATLAB tuning method is used to get the desired response
voltage V (s) to the output angle T ( s) directly follows: of DC motor under varying load conditions. PID tuning is the
finding processes of the values of proportional, integral, and
derivative gains of a PID controller to achieve the desired
performance and to meet design requirements. The DC motor

999
model using PID controller with MATLAB tuning method is Using simscape simulink blocks, we can quickly construct
shown in (Fig.4). DC the motor model as shown in (fig.6).

Fig.4 SIMULINK diagram of armature-controlled DC motor using PID

controller with load conditions
Fig.6. SIMULINK diagram of simscape physical plant completed DC motor
IV. DC MOTOR MODEL USING SIMSCAPE SYSTEM In the following diagram, the desired speed of the motor is
This paper shows how to build the DC Motor model using kept constant and DC motor is driven by PWM and H-bridge
the physical modeling blocks of the Simscape extension to motor driver. The two outputs are current and speed of the DC
SIMULINK. The blocks in the Simscape library represent motor.
actual physical components; therefore, complex multi-domain
models can be built without the need to build mathematical
equations from physical principles as was done above by
applying Newton's laws and Kirchoff's laws. The DC motor
equations can be directly modeled using the Simscape
Language. Complete the design of the DC motor Simscape
model by assigning values to the physical parameters of each
of the blocks to match assumed values [4]. The DC motor
model using the physical modeling block is shown in (Fig.5).

Fig.7 SIMULINK diagram of simscape physical plant DC motor without load

condition

In (Fig.8), the two inputs are desired speed constant and

mechanical load which contains a worm gear with the friction
connected to a lead screw to convert rotational motion to
linear motion modeled in Simscape.

Fig.5 SIMULINK diagram of simscape physical plant DC motor

The electrical part of the model solves for voltage and

current values while the mechanical side solves the torque and
angular velocity leads to identical simulation results for the
models of armature-controlled system. The main advantage of
the simscape model is the ability to modify the system model
quickly without the equations of the system. In order to
simulate the response of this system, it is necessary to add
sensor models to simulate the measurement of different
physical parameters and the voltage source to provide
excitation to the motor. To complete the design of the DC
motor Simscape model needs to add the following blocks to
the model:
x Current Sensor block
x Controlled Voltage Source block
x Two PS-Simulink Converter blocks
x Solver Configuration block
Fig.8 SIMULINK diagram of simscape physical plant DC motor under load
conditions
Using the Simscape a physical system model can be
quickly built by connecting the individual components of the
model. The desired model is intuitive and easy to interpret in
connection with the physical communication ports. The
General system equation is automatically operated by the
individual component equations, along with the way how they
are interrelated. Here is the DC motor model under load
condition using PID controller in simscape physical system.
The current and speed control subsystems are constructed
from standard SIMULINK blocks and the other model is
constructed with simscape physical blocks.

x Electrical Reference block

1000
Fig.9 SIMULINK diagram of simscape physical plant DC motor using PID
controller under load condition

The subsystem of the DC motor includes three inputs:

mechanical load which contains a worm gear with the friction
connected to a lead screw, positive and negative voltage and
two outputs: speed and hall effect sensor. The two inputs to
the system are the constant set point signal of 3000 RPM for
the desired motor speed into the controller and load torque of Fig.10. Uncontrolled speed response of armature-controlled DC motor under
-300N occurring at 5 seconds on the mechanical load. The two load disturbance and without load disturbances
outputs from the system are the current of the motor from the
current sensor block and the resulting speed RPM. The speed 2. The design of armature-controlled DC motor using PID
controller is used to control the desired output when a controller under load conditions is shown in (Fig11) . The
disturbance force is present in this system. The current speed response of armature-controlled DC motor is lowed
controller is used to control the response of the current from down only for about 50 rpm (10%) in 500 milliseconds under
the current sensor. And then PWM and H-bridge block is used load conditions.
to drive DC motor. The model of the physical plant is
encapsulated in the SIMULINK subsystem in the set of
sensors and the motor such that it can be connected to the PID
controller. The set point is entered for the desired speed, and
overall performance is measured by comparing the speed of
the system from hall-effect sensor with the set point. An initial
value of the PID controller led to a poor response when
connected to a model power plant, but the response of the
closed loop after tuning the gains is much more acceptable.
V. RESULTS
1. The comparison between the designs of armature-
controlled DC motor without load conditions and with load
conditions is given in (Fig10). The speed response of
armature-controlled DC motor is lowed down for about 300
rpm from 5 seconds under load conditions.
Fig.11. Controlled speed response of armature-controlled DC motor under
load disturbances

3. The comparison between the designs of simscape

physical plant DC motor without load condition and with load
conditions is given in (Fig12). The speed response of simscape
physical plant DC motor is lowed down for about 900 rpm
from 5 seconds under load conditions.

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Fig.12. Uncontrolled speed response of simscape physical plant DC motor
under load disturbances and without load disturbances
4. The design of Simscape physical plant DC motor using
PID controller under load conditions is shown in (Fig13). The
speed response of Simscape physical plant DC motor is lowed
down for about 270 rpm (90%) in 800 milliseconds under load
conditions.
1002
Fig.13 Controlled speed response of simscape physical plant DC motor under
load disturbances
VI. CONCLUSION
In this paper the block diagram of armature-controlled DC
motor and Simscape physical plant DC motor were developed
by using SIMULINK, the output result was shown with the
expected waveforms output. Moreover, the output result of the
simulation may be changed due to varying certain parameters
of the DC motor. This paper presented the design of armature-
controlled DC motor and Simscape physical plant DC motor.
When the output results were compared, the speed response of
armature-controlled DC motor was lowed down only for about
50 rpm (10%) in 500 milliseconds under load conditions,
however, the speed response of Simscape physical plant DC
motor was lowed down for about 270 rpm (90%) in 800
milliseconds under load conditions. Therefore, the simulation
and modeling of the DC motor also gave a view of the
expected output. Furthermore, in this experiment both DC
motor models were designed with PID controller to control the
speed of the motor under load conditions. As for the results of
the experiment, the PID controller is a very effective and
powerful controller than the controller without feedback loop.
This experiment offers many advantages due to using
SIMULINK to model control system of the DC motor. It saves
time and efforts, allowing an engineer to design the system in
a simple process rather than wasting time for writing source
code in scratch. Furthermore, Simscape language has many
advantages compared with traditional block diagram methods.
The Simscape block diagrams are easily used by control
engineers, especially for complex multi-domain models they
can be built without mathematical equations and it is a very
readable system model that can be easily shared with other
teams, quickly modified to account for additional effects when
needed, it is likely to occur in real-life condition due to
physical plant block.
REFERENCES
[1] https://en.wikipedia.org/wiki/DC_motor
[2] http://www.mathworks.com/products/simscape/
[3] Babuˇska, Stefano Stramigioli, “Matlab and Simulink for Modeling and
Control”, P.O. Box 5031, 2600 GA Delft, The Netherlands
[4] http://ctms.engin.umich.edu/CTMS/index.php?example=MotorSpeed&
section=SimulinkModeling
[5] https://www.mathworks.com/discovery/pidtuning.html?s_tid=gn_loc_d
rop
[6] B.S. Manke , “Linear Control systems with MATLAB Applications”
[7] W. Djatmiko and B. Sutopo, “Speed Control DC Motor under Varying
Load Using Phase-Locked Loop System”, International Conference on
Electrical, Electronics, Communication and Information CECI, Jakarta
2001
[8] SAMIR MEHTA, MEMBER, IEEE, & JOHN CHIASSON, MEMBER,
IEEE “Nonlinear Control of a Series DC Motor: Theory and
Experiment” IEEE tractions on industrial Electronics, VOL. 45,