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Design a digitally controlled analog PID controller Designer: Idan Yahav

TECHNION - ISRAEL INSTITUTE OF TECHNOLOGY Department of Electrical Engineering Control and Robotics Lab. Design a digitally controlled analog PID controller Designer: Idan Yahav Supervisor: David Gidony. PID controller - Intro.

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Design a digitally controlled analog PID controller Designer: Idan Yahav

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  1. TECHNION - ISRAEL INSTITUTE OF TECHNOLOGYDepartment of Electrical EngineeringControl and Robotics Lab Design a digitally controlled analog PID controller Designer: Idan Yahav Supervisor: David Gidony

  2. PID controller - Intro • The PID controller helps get your output where you want it, with minimal overshoot, and with little error. • PID stands for: P -Proportional, I - Integral, D - Derivative.We apply this functions on the error signal. • Verror is the difference between where you want to go (Vset), and where you're actually at (Vsensor). • Verror = Vset - Vsensor.

  3. PID controller - Intro

  4. PID controller - Intro • The controller performs the PID mathematical functions on the error and applies their sum to a process

  5. Goal Main goal : To design a digital controlled PID controller. Part A - Analog • Design the analog amplifiers PID and summing. Part B – digital: • Design a microcontroller that will control an LCD screen and a variable gain element.

  6. Chosen Architecture • Amplifiers supply ±15[V]. • Digital supplier 5]V[. • Red arrows indicate digital potentiometer.

  7. Part A : analog design • Spec: • Input signal is 0.1 [V] • Functionality BW- 10m-200 [Hz] • Issues • Feedback amplifiers : stability check. • Rout and Rin of the P and summing amplifiers. • Check the synergy between the blocks.

  8. P amplifier • Rout=1 ohm • PM is 87 • Close loop: BW=19K.

  9. D amplifier • Main conflicts: • Stability of the block. • Functionality of the block Lowers the gain in high frequency and help stabilize the amplifier

  10. D amplifier • PM=87 • Close loop BW = 200[Hz]

  11. I amplifier Cancel the affect of bias voltage • Main conflicts: • Stability of the block. • Functionality of the block Cancels affect of bias currents

  12. I amplifier Cancel the affect of bias voltage • PM=20 • Close loop BW 8m[Hz] Cancels affect of bias currents

  13. Summing amplifier • Rin=Ri • PM is 87 • Close loop BW=17K.

  14. Part B : Digital Design • The microcontroller is like a small computer. • It includes a CPU, memory and I/Os. In order to design the digital solution we need: • C code (with a CCS compiler). • Interrupts. (do not return to the start of main) • Timers. • Datasheets.

  15. Part B : Digital Design • For a single press: count = count ± 0.1 (depend on the button that was pressed). • For a long press: count = count ± 0.9 the first time and count = count ± 1 on the rest. • If count >10 :count=count-10.

  16. Flow chart Start timer Count+0.1 Start timer Count+1 Stop timer In=1 Timer=1 In=1 Timer=0 In=0 Timer=x 16

  17. Part B : Digital Design • A function that writes to the screen was implemented • 2 denounce solution were implemented

  18. Opens and Next steps • Stabilize the integrator. • Design a power supply: ±15 [V], gnd, 5[V] and an adjustable voltage down to -5 [V]. • Implement a code for the digital potentiometer. • Design protection blocks for the card. • Calibration solution. • Design a printed card. • Measurements on the card.

  19. Q&A

  20. References • http://en.wikipedia.org/wiki/Microcontroller • http://en.wikipedia.org/wiki/Switch • http://electronics.stackexchange.com/questions/22209/calculating-resistor-and-capacitor-values-for-an-op-amp-differentiator-circuit-dhttp://www.ecircuitcenter.com/circuits/opdfr/opdfr.htmhttp://www.ecircuitcenter.com/circuits/opdfr_OL/opdfr_open_loop.htm • http://www.ecircuitcenter.com/circuits/pid1/pid1.htm • http://circuitalley.phpnet.us/circuit4.html • http://www.underwar.co.il/14-IT-Security/d318/

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