Build A Permanent Magnet Servo Motor Using Simulink And A Four Quadrant Converter. Can Only Use Transfer Functions. DO Not Use Parts. I Have Uploaded The Simulink Model.

MotorModelParameters.docx

%Motor Model Parameters%

Ra=0.37;

La=1.4985e-3;

Jeq=0.0079;

Ke=0.5;

Kt=0.5;

Vd=200;

Vtri=1;

Fs=20e3;

kPWM=Vd/Vtri;

%Current Controller Design

tau_a=La/Ra;

wc=2*pi*Fc;

KI_i=Ra*wc/kPWM;

Kp_i=KI_i*tau_a;

%Parameter Variation

Ra_1=1.9;

La_1=5e-3;

%Speed controller Design

Fc_w=Fc/10;

wc_w=2*pi*Fc_w;

PM=60;

Ratio=tand(PM)/wc_w; %Ratio=Kpw/Kiw

KI_w=((wc_w^2)*Jeq)/(Kt*(sqrt(1+((wc_w*Ratio)^2))));

Kp_w=Ratio*KI_w;