Drawing the open-loop root locus
Finding the gain using the rlocfind command
Adding a lag controller
Plotting the closed-loop response
From the main problem, the dynamic equations and the open-loop transfer function of DC Motor Speed are:
and the system schematic looks like:
For the original problem setup and the derivation of the above equations, please refer to the Modeling a DC Motor page.
With a 1 rad/sec step reference, the design criteria are:
Now let's design a controller using the root locus method.
Create a new m-file and type in the following commands (refer to main problem for the details of getting those commands).
J=0.01; b=0.1; K=0.01; R=1; L=0.5; num=K; den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2)]; motor=tf(num,den);
The main idea of root locus design is to find the closed-loop response from the open-loop root locus plot. Then by adding zeros and/or poles to the original plant, the closed-loop response can be modified. Let's first view the root locus for the plant. Add the following commands at the end of your m-file.
rlocus(motor) sgrid(.8,0) sigrid(2.3) title('Root Locus without a controller')The command sigrid is a user-defined function. You need to copy the sigrid.m file to your directory before using it. For more information on how to use functions, refer to the functions page.
Two arguments in the sgrid command are the damping ratio (zeta) term (0.8 corresponds to a overshoot of 5%), and the natural frequency (Wn) term (= 0 corresponds to no rise time criterion) respectively. The single argument in the sigrid command is the sigma term (4.6/2 seconds = 2.3). After you have saved sigrid.m file to your directory, run the above m-file in the command window. You should get the root locus plot shown below:
If you recall, we need the settling time and the overshoot to be as small as possible. Large damping corresponds to points on the root locus near the real axis. A fast response corresponds to points on the root locus far to the left of the imaginary axis. To find the gain corresponding to a point on the root locus, we can use the rlocfind command. We can find the gain and plot the step response using this gain all at once. To do this, enter the following commands at the end of your m-file and rerun it.
[k,poles] = rlocfind(motor) sys_cl=feedback(k*motor,1); t=0:0.01:3; step(sys_cl,t) title('Step response with gain')Go to the plot and select a point on the root locus half-way between the real axis and the damping requirement, say at -6+2.5i. MATLAB should return the output similar to the following.
selected_point = -5.9596 + 2.0513i k = 10.0934 poles = -6.0000 + 2.0511i -6.0000 - 2.0511i
As you can see, there is no overshoot and the settling time is about one second, so the overshoot and settling time requirements are satisfied. The only problem we can see from this plot is the steady- state error of about 50%. If we increase the gain to reduce the steady-state error, the overshoot becomes too large (Try this yourself). We need to add a lag controller to reduce the steady-state error.
From the plot we see that this is a very simple root locus. The damping and settling time criteria were met with the proportional controller. The steady-state error is the only criterion not met with the proportional controller. A lag compensator can reduce the steady-state error. By doing this, we might however increase our settling time. Try the following lag controller first:
This can be done by changing your m-file to look like the following:
J=0.01; b=0.1; K=0.01; R=1; L=0.5; num=K; den=[(J*L) ((J*R)+(L*b)) ((b*R)+K^2)]; Zo=1; Po=0.01; motor=tf(num,den); contr=tf([1 Zo],[1 Po]); rlocus(contr*motor) sgrid(.8,0) sigrid(2.3) title('Root Locus with a lag controller')You should get the following root locus, which looks very similar to the original one:
Now let's close the loop and see the closed-loop step response. Enter the following code at the end of your m-file:
[k,poles]=rlocfind(contr*motor) sys_cl=feedback(k*contr*motor,1); t=0:0.01:3; step(sys_cl,t) title('Step response with a lag controller')Rerun this m-file in the MATLAB command window. When prompted to select a point, pick one that is near the damping requirement (diagonal dotted line). You should get the a plot similar to the following:
Your gain should be about 20. As you can see the response is not quite satisfactory. You may also note that even though the gain was selected to correlate with a position close to the damping criterion, the overshoot is not even close to five percent. This is due to the effect of the lag controller; its pole is much slower). What this means is that we can go beyond the dotted lines that represent the limit, and get the higher gains without worrying about the overshoot . Rerun your m-file, place the gain just above the white, dotted line. Keep trying until you get a satisfactory response. It should look similar to the following (we used a gain of around 50):
The steady-state error is smaller than 1%, and the settling time and overshoot requirements have been met. As you can see, the design process for root locus is very much a trial and error process. That is why it is nice to plot the root locus, pick the gain, and plot the response all in one step. If we had not been able to get a satisfactory response by choosing the gains, we could have tried a different lag controller, or even added a lead controller.