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Internal Model Control for DC Motor Using DSP Platform

Internal Model Control for DC Motor Using DSP Platform. By: Marcus Fair Advisor: Dr. Dempsey. Outline. Problem description Objectives Functional Specs Sub-system Overview Software Design . Summary. Design, build, and test IMC (Internal Model Control) system to control a DC motor

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Internal Model Control for DC Motor Using DSP Platform

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  1. Internal Model Control for DC Motor Using DSP Platform By: Marcus Fair Advisor: Dr. Dempsey

  2. Outline • Problem description • Objectives • Functional Specs • Sub-system Overview • Software • Design

  3. Summary • Design, build, and test IMC (Internal Model Control) system to control a DC motor • 32-bit TMS320F2812 digital signal processor (DSP) • Design for IMC controller built in Simulink • Input to system uses graphical user interface (GUI) built in Matlab

  4. Preliminary Work • DC Motor block diagrams from Senior Mini-project • Also based on DC Motor Speed Control Demo • M-files to run software • Speed Measurement block in Simulink

  5. Common Problems in Control Systems • Load Changes -Load shaft • Plant Changes -Armature Resistor, Armature Inductor, Rotor Inertia, etc • Power Supply Changes

  6. Build DSP/motor hardware interface Design and build (GUI) Design closed-loop controllers Compare conventional controller results with the IMC method Objectives

  7. Functional Requirements andPerformance Specifications • Closed-loop operation: Determine optimum gains for controllers • Rise time: 20 ms or less • Settling time: 100ms or less • Overshoot: < or = 5% • Steady state error: + or – 5 RPM

  8. Equipment List • GM9236C534-R2 Pittman DC motor • Ezdsp F2812 Board • LMD18200 H-bridge • 3 - SN74LVC4245A voltage shifter • 6-Pin DIP Opto-isolator • 2N2222A BJT • 2 - Diodes • Agilent 30V power supply and HP 5V power supply • Tektronix Oscilloscope

  9. Overall Block Diagram

  10. Overall Block Diagram

  11. Generation TMS320F281x CPU 1 C28x   Peak MMACS 150   Frequency(MHz) 150   RAM 36 KB  OTP ROM 2 KB Flash 256 KB   EMIF 1 16-Bit   PWM 16-Ch  CAP/QEP 6/2 ADC 1 16-Ch 12-Bit   ADC Conversion Time 80 ns   McBSP 1  UART 2 SCI   SPI 1 CAN 1 Timers 3 32-Bit GP,1 WD   GPIO 56 Core Supply (Volts) 1.9 V  IO Supply (Volts) 3.3 V   Dsp board technical specs

  12. Inputs and Outputs

  13. Delivers up to 3A continuous output   Operates at supply voltages up to 55V   Low RDS(ON) typically 0.3W per switch TTL and CMOS compatible inputs No “shoot-through” current Thermal warning flag output at 145°C Thermal shutdown (outputs off) at 170°C Internal clamp diodes Shorted load protection Internal charge pump with external bootstrap capability Internal clamp diodes  Shorter load protection  Internal charge pump with external bootstrap capability H-bridge

  14. Pittman DC Motor Motor Specs Encoder Specs

  15. Pittman Motor Block Diagram

  16. Root Locus of Plant

  17. Bode Plot for Plant

  18. Software • Matlab -Simulink -main m-files -Gui m-files • Code Composer Studio 2.0 -Auto-code generation -Communication with Dsp board

  19. Software flowchart

  20. Software flowchart

  21. Design Work • Matlab GUI -Gui m-file • Controller Design Iterations -Proportional Controller -Feed-forward Controller -IMC controller

  22. GUI

  23. Proportional Controller

  24. Proportional Controller

  25. Other Block diagrams

  26. Proportional Controller

  27. Proportional ControllerSimulink Results

  28. Proportional ControllerActual Results

  29. Proportional ControllerActual Results

  30. Feed-forward Controller • Why Feed-forward Controller? • Faster response to command changes than single-loop controllers • Less overshoot: More accurate than single-loop controllers • Better system for Dc Motor control

  31. Feed-forward Controller

  32. Feed-forward Equations • C/R = (Gc*Gp + Gp) / (1 + Gp) • Desired C/R = 1.0 • So Gc = 1/Gp to get desired controller • Gain K calculated based on DC gain of plant

  33. Feed-forward Controller

  34. Feed-forward Controller

  35. Feed-forward ControllerSimulink Results

  36. Feed-forward ControllerActual Results

  37. Feed-forward ControllerActual Results

  38. Internal Model Controller • IMC uses a plant model for disturbance rejection • More ideal control system • Faster and more robust system

  39. Internal Model Controller

  40. IMC Equations • C/R = (Gc*Gp)/(1 + Gc*Gp - Gc*Gp’) • Desired C/R = 1.0 • So Gc = 1/Gp’ = 1/Gp to get desired controller • Gain K calculated based on DC gain of plant

  41. Internal Model Controller

  42. Internal Model Controller

  43. Internal Model ControllerSimulink Results

  44. IMC ControllerActual Results • Hardware didn’t support algebraic loops • Unable to Run IMC from processor

  45. Conclusion • Overall Hardware fully functional • Functional parts of GUI work correctly/ extra features never implemented • All Controllers work in Simulation • Only proportional and feed-forward run off hardware

  46. Questions?

  47. Feed-Forward Equations C = Gp*(R*Gc + E) E = R - C C = Gc*Gp*R + Gp*R – C*Gp C + C*Gp = Gc*Gp*R + Gp*R C = R*(Gc*Gp + GP) / (1 + GP) C/R = (Gc*Gp + Gp) / (1 + Gp)

  48. IMC EQUATIONS C = E*Gc*Gp E = R – (E*Gc*Gp – E*Gc*Gp’) E + E*Gc*Gp - E*Gc*Gp’ = R E = R / (1 + Gc*Gp - Gc*Gp’) C = (R*Gc*Gp) / (1 + Gc*Gp - Gc*Gp’) C/R = (Gc*Gp) / (1 + Gc*Gp - Gc*Gp’)

  49. Spring Semester Schedule Week Goals 1-7 Build and test single-loop controller, Design Gui layout 8 Build and test feed-forward controller 9-10 Implement IMC with linear model 11 Final testing, final Gui design 12-13 Final documentation

  50. Pinout

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