This example shows an RST speed-control structure for a DC motor. A PWM controlled four-quadrant Chopper is used to feed the DC motor. The Control subsystem includes the RST controller with control horizon of 30, and the PWM generation. A sensor measures the rotor speed with a delay of 5ms. The total simulation time (t) is 4 seconds. At t = 1.5 seconds, the load torque increases. At t = 2.5 seconds, the reference speed is changed from 1000 rpm to 2000 rpm.
This example has been tested on a Speedgoat Performance real–time target machine with an Intel® 3.5 GHz i7 multi–core CPU. This model can run in real time with a step size of 50 microseconds.