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Team GreenTeam GreenSpeed Control - Speed Control -
Steady State Performance and Step Steady State Performance and Step ResponseResponse
John BarkerJohn Barker
John BeverlyJohn Beverly
Keith SkilesKeith SkilesENGR 329
UTC
2/1/06
OutlineOutline
Background of Aerator Mixer Speed Background of Aerator Mixer Speed Control SystemControl System
SSOC ResultsSSOC Results Step Response ResultsStep Response Results ConclusionsConclusions
Aerator Mixer Speed Control Aerator Mixer Speed Control SystemSystem
Block Diagram of SystemBlock Diagram of System
1
s
Ke sto
Operation at 100%
0
200
400
600
800
1000
1200
1400
1600
1800
2000
0 1 2 3 4 5 6 7 8 9 10
Time (sec)
Output Speed
(
rpm
)
SSOC CalculationsSSOC Calculations
Input Motor Power (%)
Output Drive Speed (rpm)
Uncertainity (± rpm)
10 158 5.78
20 334 4.21
30 508 3.09
40 682 2.33
50 856 2.16
60 1031 2.32
70 1204 1.99
80 1371 3.91
90 1539 4.51
100 1707 4.43
SSOC
0
200
400
600
800
1000
1200
1400
1600
1800
2000
0 20 40 60 80 100
Input Motor Power (%)
Output Drive
Speed (rpm)
Base 70% Step 10%
6870727476788082
4.4 4.6 4.8 5 5.2 5.4 5.6 5.8 6
Time (sec)
MI (%)
1150
1200
1250
1300
1350
1400
Speed (rpm)
Base 50% Step -10%
35
40
45
50
55
4.4 4.6 4.8 5 5.2 5.4 5.6 5.8 6
Time (sec)
MI (%)
650700750800850
Speed (rpm)
Base 10% Step 10%
0
5
10
15
20
25
0 5 10
Time (sec)
MI (%)
0
100
200
300
400
MO (rpm)
Base 70% Step 10%
1200
1250
1300
1350
1400
4.5 4.7 4.9 5.1 5.3 5.5 5.7 5.9
Time (sec)
Speed(rpm)
ΔC
0.623 ΔC
Tau
to
Step Response Values and ErrorsStep Response Values and Errors
to (sec) Tau (sec) K (rpm/%)Average 0.1 0.2 17.1
Error 0.01 0.02 0.63
SummarySummary
Operating Range (0-100%) Input and Operating Range (0-100%) Input and (150-1700 rpm) Output(150-1700 rpm) Output
First Order Plus Dead Time ModelFirst Order Plus Dead Time Model
12.0
1.17 1.0
s
e s
Questions?Questions?