Problem 3: Control System Design
Given the DC motor block diagram in Figure 1, design a control system with an internal loop for the armature current and an external loop for the motor speed. Use a Proportional-Integral (PI) controller for the current loop and a Proportional (P) controller for the motor speed loop.
Figure 1: DC Motor Block Diagram
```
T(s)
Electromagnetic force effect
|
V
K
|
Armature
|
V
Mechanical effect
|
V
U(s)
|
V
1
2(s)
LS + R
|
V
a + sp
|
V
Induced electromotive force effect
|
V
K
|
V
Type D12
|
V
Ur, V 220
Pr, W ra, Ohm Jm, kgm^2
Ir, A
wr, rad/s 128.7958
p
La, H
2400
1.63
0.05
14
2
0.018301
```