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Hardware Interfacing & Control
IndianInstituteofTechnologyBombay
Prof.P.S.V.Nataraj
PC Based Interface
UsingCustomHardwareinterface
MicrocontrollerbasedcustomHardware
Encoder
SerialPort
USB
IITBombay
DC motor Control Kit
DevelopedByIITBombay
USB
IITBombay
Controller MotorDriverSpeedSetpoint
SpeedFeedback
DCMotorControl
Encoder
IITBombay
Microcontroller&MotorDriverBoard
Encoder
SerialPort
USB
RotaryEncoderfeedback
VariableVoltagetoMotor
DC motor Control Kit
Setpoint SpeedRPM
FeedbackCurrentRPM
IITBombay
SystemIdentification
ModulesforSpeed&Positioncontrol
MPC RobustControl
DeepLearningNeuralNetworks
DC motor Control Kit
TraditionalControlusingPPIPID
TrainingModules
IITBombay
DC motor Control Kit
Usedforclassroomteachingover4yearsinIIT
LowCost
Createsrealworldplantexperienceonyourdesktop
CompleteLabDevelopmentPackageforAcademics
InteractivefrontendSoftwaremodules
USBConnectivity–Plug&Play
Opencommunicationcommandset
IITBombay
IITBombay
IndianInstituteofTechnologyBombay
DC Motor control using MATLAB/SIMULINK
Outline
• ExperimentNo-1• Validationofmotormodelforspeedcontrol
• ExperimentNo-2• PIControlGainsforMotorspeedcontrol
IITBombay
Experiment No-1Validation of motor model for speed control
IITBombay
Procedure
• Setts=0.015• Runthematlabsimulinkmodel• TostopthemotorpresstheresetbuttonontheDCmotorkit.
IITBombay
FOPTD
•
IITBombay
Apply two-point method for system
•
IITBombay
Sample values
•
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Transfer function
•
IITBombay
Output response
• Intheopenloop,theplantisbroughttoequilibriumbyapplyingastepof150PWMunits.• Thecorrespondingspeedisaround2000RPM• Afterthemotorspeedsettles,thePWMinputisinstantaneouslychangedto170.• Asaresult,thespeedincreasestoaround2400RPM.
IITBombay
Output vs Input
IITBombay
Experiment No-2PI Control Gains for Motor speed control
IITBombay
Ziegler-Nichols Rule for Tuning PID Controllers
IITBombay
Calculations
•
IITBombay
Procedure
• Doubleclickonthecontrollerblock.• DoubleclickonPIDControllerblock.• EnterthePandIvaluescalculatedusingtheZiegler-NicholsRule.
IITBombay
PID Block
IITBombay
PID block configuration
IITBombay
Output
• Kc=0.075andTi=0.36sec.• Afterthespeedsettlesat2000RPM,astepof400RPMisapplied.• Itisseenthattheoutputfollowsthesetpointandthespeedsettlesat2400RPM.• Next,anegativestepof400RPMisapplied.• Itisclearlyobservedthatmotorspeeddecreasesandsettlesat2000RPM.
IITBombay
Output response
IITBombay
