# Control of Electric Motors – Labs

**Project: Motor Control System**

ECE 5570 Course Website

Analog Lab Equipment Documentation and Tutorials

This course starts with identification and control of DC motors on a prototyping platform. Then the control of stepper and induction motor is presented. Finally the class is completed with a student project for controlling a Brushless DC motor. This course has cross-over with the embedded system courses by providing a platform similar to embedded motor lab.

## Lab 1 – Modeling and Parameter Estimation for the Brush DC Motor

The objective of this lab is to become familiar with the hardware and the software in the lab and to begin experimentation with a brush DC motor.

Lab Documents:

Tutorials:

## Lab 2 – PID Control of a Brush DC Motor

The objective of this lab is to experiment with a proportional -integral – derivative (PID) control law for the positioning of a brush DC motor. Integral control is found useful to achieve zero-steady state errors in the presence of constant load disturbances. To avoid overshoot in the responses, simple modifications are applied to the control law. Controller parameters are selected by trial and error and by a procedure based on the principle of the symmetric optimum.

Lab Documents:

Tutorials:

## Lab 3 – Modeling and Identification of a Stepper Motor

The objective of this lab is to verify the model of a permanent magnet stepper motor. The parameters of the motor are determined using electrical measurements, measurements of the position under open-loop stepping, and measurements of the position under open-loop DQ control. The performance of the stepper motor is compared to the performance measured for the DC motor in previous labs.

Lab Documents:

Tutorials:

## Lab 4 – Closed-Loop Control of a Stepper Motor

The objective of this lab is to develop and test a closed-loop control algorithm for a stepper motor. First, field weakening is combined with a DQ transformation to maximize the achievable speed and to guarantee synchronism of the motor with the rotating magnetic field. Then, a PID control law is implemented for position control.

Lab Documents:

Tutorials:

## Lab 5 – Torque Curves of Induction Motors

The objective of the lab is to measure the torque curves of induction motors. Acceleration experiments are used to reconstruct approximately the torque curves, assuming that the load torque is constant and that a steady-state approximation is valid. The dependency of the torque on the electrical frequency is also investigated.

Lab Documents:

Tutorials:

## Lab 6 – Slip Control of Induction Motors

The objective of the lab is to implement a slip control strategy on an induction motor. Both velocity and position control are considered.

Lab Documents:

Tutorials:

## Lab 7 – Parameter estimation of a Brushless DC motor

The objective of the lab is to determine the motor parameters and develop open-loop and quadrature voltage command of a brushless DC motor using sinusiodal commutation.

Lab Documents:

Tutorials:

## Lab 8 – Brushless DC Motor Control with a 6-Step Commutation

The objective of the lab is to develop a velocity and position control system for a three- phase permanent magnet motor.

Lab Documents:

Tutorials: