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DC motor modeling with hands on experiments on DSP2 learning module (introductory lecture to mini project)

DC motor modeling with hands on experiments on DSP2 learning module (introductory lecture to mini project). Doc.dr. Suzana Uran. University of Maribor, Faculty of Electrical Engineering and Computer Science. Address : Smetanova 17, SI-2000 Maribor, Slovenia;

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DC motor modeling with hands on experiments on DSP2 learning module (introductory lecture to mini project)

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  1. DC motor modelingwith hands on experiments on DSP2 learning module (introductory lecture to mini project) Doc.dr. Suzana Uran University of Maribor, Faculty of Electrical Engineering and Computer Science Address : Smetanova 17, SI-2000 Maribor, Slovenia; E-mail: suzana.uran@uni-mb.si http://www.ro.feri.uni-mb.si Title on all pages

  2. Contents • About DSP2 learning module • DC motor modelling • hands on exercise: current controlled DC motor model (we look for a model of current control loop ) • Conclusion Title on all pages

  3. http://www.ro.feri.uni-mb.si/projekti/dsp2/ DSP2 card Exchangeable Control Plant Control system: DSP2 learning module Title on all pages

  4. DSP2 card: short description • Signal processor TI TMS320C32-60, • 3 fast analog inputs 12 bit (2.6us conv. time) • 8 MUX analog inputs 12 bit , • 1 analog bipolar output(12 bit)/2 unipolar outputs • 1 PWM output (3 phase) • 1 input for incremental encoder • 3 digital outputs and 1 digital input (isolated) • RS 232 duplex communication port Title on all pages

  5. Control plant: DC/AC motor http://www.ro.feri.uni-mb.si/projekti/dsp2/ H-bridge DC motor Title on all pages

  6. Control plant: Buck converter buck Title on all pages

  7. RC oscilator: ADDA+RC control plant http://remotelab.ro.feri.uni-mb.si/experiments_rc_oscilator.asp also REMOTEexperiment! RC control plant Title on all pages

  8. DSP2 module: Rapid Control Prototyping MATLAB/SIMULINK and DSP Terminal on Personal computer Title on all pages

  9. SIMULINK libraries for DSP2 learning module http://www.ro.feri.uni-mb.si/projekti/dsp2/documentation/ DSP2_Library_for_Simulink.pdf • Embedded Target for DSP-2 board • DSP2 learning module • DSP blockset • Standard SIMULINK libraries Title on all pages

  10. Modelling of DC motor current control loop Hands on experiment: Build a MATLAB/SIMULINK block scheme for open loop control of current controlled DC motor(ESCAP 28D2R-219P) usingDSP2 learningmodule! Measure motor speed with incremental encoder. Title on all pages

  11. Nominal voltage 12 V Torque constant 19.5mNm/A Nominal current 1.5 A Rotor inertia 1.76*10-6kgm2 Nominal speed 5000 rev/min Load inertia 7.56*10-6kgm2 Incremental encoder 144*4=576 p/rev DC motor, load, encoder data DC motorESCAP 28D2R-219P with incr. encoder. Title on all pages

  12. Getting started: DSP2 learning module http://www.ro.feri.uni-mb.si/projekti/dsp2/documentation/ DSP2_Library_for_Simulink.pdf • In MATLAB6p5/work directory create a new directory named: VILLACHvisit • Run MATLAB6p5 and go to VILLACHvisit directory • In MATLAB command window write command: dsp2lib Title on all pages

  13. Getting started In the new opened window ( see figure below) double click New Model button and choose new file name! Title on all pages

  14. Getting started A new SIMULINK file for work with DSP2 learning module is opened with 3 buttons left above. Now you can start building SIMULINK block scheme. Title on all pages

  15. Getting started • In DSP2 learning module library find blocks with name DCMOT • choose block DCMOT tokovna regulacija (DCMOT TOKREG Ia – motor current control loop ) and put it in your SIMULINK scheme • choose block DCMOT meritev hitrosti (DCMOT OMEGA – motor speed measurement) and put it in your SIMULINK scheme Title on all pages

  16. Getting started In menu of your file choose: Simulation/Simulation Parameters/Real-Time Workshop For DSP-2 options 2 set: 576 number of lines per revolution for Incremental encoder Title on all pages

  17. Getting started • In Embedded Target for DSP-2 board library find block To Terminal – it is a block for data visualisation on your PC • use three blocks To Terminal as shown on next slide • In Embedded Target for DSP-2 board library find block From Terminal – it is a block for data input from keyboard of your PC • use two blocks From Terminal as shown on next slide Title on all pages

  18. Getting started Build SIMULINK block scheme below: Title on all pages

  19. Getting started Set parameters on the left for Pulse Generator block Title on all pages

  20. Getting started • Double click Edit Parameters (blue button) • Enter definitions for: • T = 200e-6; % sampling time • amp (choose – carefully consider) • per (choose – carefully consider) • offset (choose – carefully consider) • Double click Update Parameters (blue button) • Switch on DSP2 learning module and double click Build (blue button) Title on all pages

  21. after code buiding and download to DSP2 the DSP Terminal program starts. FIRST set Ioff as below (middle value to 0) Getting started Title on all pages

  22. Getting started After setting ENABLE=1, and selecting Ia, IaREF to view we get: Title on all pages

  23. Getting started • Did you get the same response? • What happens if we choose offset=0? WHY? • Determine the order and parameters of the model for the current control loop ! • If there is enough time left find the speed response of DC motor! Title on all pages

  24. Motor speed response/Simulink Speed response input signal IaREF Title on all pages

  25. Md KT , TT - m IaREF 1/JC KM Conclusion Current control loop is modelled as 1st order system. KM=0.0195 Nm/A KT = 1, TT = 0.9 ms JC = 9.32. 10-6 kgms-2 Title on all pages

  26. Motor speed measurement Motor speed measurement is obtained from position measurement of incremental encoder by differenciation is very noisy. To filter out the noise we use : 2.nd order Butterworth filter with fcutoff = 200 Hz. Title on all pages

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