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Demonstration of the experimental setup

EE380 (Control Systems)

Manavaalan Arun Kant Ramprasad

Gunasekaran Singh Potluri
PhD student PhD student Associate Professor
[email protected] [email protected] [email protected]
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Department of Electrical Engineering II
Indian Institute of Technology Kanpur J
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August 1, 2011
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Contents
1 Components of the work bench 3

2 How the components are interconnected 4

3 Use MPLAB IDE: Open project file 5

4 Use MPLAB IDE: Open program in project 6

5 Use MPLAB IDE: Insert controller code 7

6 Use MPLAB IDE: Build project 8

7 Use MPLAB IDE: Select programmer 9

8 Use MPLAB IDE: Program dsPIC30F4012 10

9 How to read data 11 JJ

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10 How to store data 12 J
11 How to plot data 13 I
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Components of the work bench

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FG: Function Generator, PS: Power Supply, M: Motor with encoder, HB: H-bridge, PK2: I
PICkit 2, MCB: Motor Control Board. The PC is also part of the work bench. Back
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How the components are interconnected

FG +12V −12V
+-

1 L298 + GND -
1 CN1-PS PC

UART-A
RS232

CN4-I/P
Is

DB9-
C
Rs = 4.7Ω 10 USB
M1 M3
M
H-bridge board

PICKIT2

PICKIT2
M2

CN5-O/P
M4

CN2-
µC board
I1 I2 E1−2 +Vcc +5V GND I3 I4 E3−4
Encoder

+12V 1

DB9-CAN
CN3-Motor
3

5
5-9

Note: The setup allows to connect another motor to H-bridge board between pins M3
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and M4 . Connector CN5-O/P can then be used to connect to I3 , I4 , E3−4 . But, as we
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have only one QEI module on dsPIC30F4012, we cannot use encoder signal from that
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motor. However, we can perform speed control by using armature current sensed at pin Back
15 of L298 similar to how it is being sensed at pin 1. Forward
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Use MPLAB IDE: Open project file

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Use MPLAB IDE: Open program in project

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Use MPLAB IDE: Insert controller code

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Use MPLAB IDE: Build project

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Use MPLAB IDE: Select programmer

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Use MPLAB IDE: Program dsPIC30F4012

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How to read data

Start terminal.exe. Configure the GUI as shown.

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How to store data

• Click on Start Log button; provide a file name and location to store this file.

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• Hold down reset button on MCB; click on Connect button on terminal.exe. I
• Release reset button; read in data for a little longer than ts of your control sytem. Back
• When done, click on Stop Log button on terminal.exe. Forward
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How to plot data

• Let log file created by terminal.exe be testdata.txt.
• Remove the parts of the text from the beginning and end of the
file that is not the data about variables of interest from the µC.
• Place m-file readplot.m in folder that contains testdata.txt.
• Start up GNU Octave in this folder.
• Execute readplot.m in GNU Octave.
• If plots have problems appearing, apply correction given in
readplot.m.
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