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Activity 6 Part (b): PI Control of a DC Motor Key Topics : Pulse-Width Modulation, PI Control, Pole Placement, Steady-State Error, Disturbance Rejection, Saturation, Integrator Wind-up, Embedded Control Contents Equipment needed Purpose Control requirements System identification experiment Controller design via algebraic pole placement PI controller implementation Robustness to disturbances Embedded Control Equipment needed Arduino board (e.g. Uno, Mega 2560, etc.) Breadboard DC motor with quadrature encoder Battery (lantern battery for example) Diode Transistor (MOSFET) Jumper wires In this activity we will design and implement a speed controller for a simple DC motor. In particular, we will choose and tune the gains of a PI controller based on the effect of the gains on the system's closed-loop poles while accounting for the inherent uncertainty in our model. We will design the controller to achieve a desired level of transient response and will examine in detail the steady-state error produced by the resulting closed-loop system, including in the presence of a constant disturbance. More details regarding other approaches to motor speed control and alternative control design techniques can be found from the home page of these tutorials. The motor's angular speed is estimated employing a quadrature encoder. The encoder pulses are counted on the Arduino board via two of the board's Digital Inputs . One of the board's Digital Outputs is also employed to switch a transistor on and off, thereby connecting and disconnecting the motor to a DC voltage source. The Arduino board communicates the recorded data to Simulink for visualization and analysis. The logic for estimating the motor's speed based on encoder counts and the logic for controlling the motor's speed is implemented within Simulink. Initially this logic is run on the host computer, but later we download all of the logic to the Arduino board. Purpose The purpose of this activity is to build intuition regarding

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Activity 6 Part (b): PI Control of a DC Motor Key Topics : Pulse-Width Modulation, PI Control, Pole