LAB NO.

CLOSE LOOP SPEED CONTROL OF DC MOTOR

OBJECTIVES: -
• Understand and implement close loop control of DC motor.
• Reduce the difference between input/reference speed and output.
• Use proportional control to reduce the error.
APPARATUS: -
• Arduino board
• Laptop
• DC Encoder Motor
• Motor Driver L298N
CLOSED LOOP CONTROL: -

We have measure motor (plant) speed in open loop in the previous lab. Now we will measure the motor
(G(s)) speed through encoder (H(s)) and compare with reference/input speed (R(s)) such that the difference between
reference and output speed is calculated as error (E(s)) and used to control the speed of motor such that error is
minimum.

Block diagram of closed loop controller can be given by;

Figure Error! No text of specified style in document..1: Closed Controller Block Diagram

Further a proportional gain is introduced in the forward path such that the error is multiplied with gain (K) in an effort
to reduce the difference between reference and measured speeds. Block diagram with proportional control loop can be
given by;

Figure Error! No text of specified style in document..2: Proportional Controller Block Diagram
 As we can see it is a close loop feedback system and the output of the system us compared with the
input and then the error is processed through a controller. The purpose of the proportional gain is straight forward
and contains KP which is proportional gain which will be multiplied with the error to amplify the magnitude of the
error and then applied to the system. Practically it is used to achieve the desired output response or to overcome the
transient error. With the increase of the proportional gain the amplitude of the output response of the system is also
increased for a given error.

RESPONSE OF MOTOR FOR STEP INPUT IN CLOSE LOOP: -

Now the repose of the Dc motor in close loop can be obtained. Here the target is to give a specific
speed and let the control to adjust the duty cycle so that the specified speed reaches. For that purpose, the speed of the
motor should be feedback to sense the current speed and take some action to achieve the given specified speed.
• Connect Arduino with the PC through data cable.
• Connect 12V to the power input of encoder labeled 12V and ground of supply to ground of driver.
• Connect ground of Arduino with the ground of driver or supply also.
• Connect the motor at the output of driver.
• Now apply logic high on IN1 and low at IN2, using Arduino and MATLAB.
• Then, create and encoder object and specify the pins on which encoder is connected here in this case it
should be connected to pin 2 and 3 of Arduino uno.
• Now input the speed of the motor which is desired.
• Apply a PWM wave to the motor so that motor starts.
• In a loop read the speed of the motor using readSpeed() function.
• Compute the error and use this error to apply the PWM for motor driver.
• The response of the motor in close loop in shown below.

Figure Error! No text of specified style in document..3: Step Response of Motor in Close Loop for 150 RPM

P CONTROL FOR DC MOTOR: -

The target now is to overcome the error in the speed, figure 4.2 we can see that the motor can’t achieve
specified speed and thus can’t there is a steady state error in the speed which needs to be overcome to reach the desired
response or speed. So, for that purpose we are employing proportional gain for this purpose thus,
• Connect Arduino with the PC through data cable.
• Connect 12V to the power input of encoder labeled 12V and ground of supply to ground of driver.
• Connect ground of Arduino with the ground of driver or supply also.
• Connect the motor at the output of driver.
 • Now apply logic high on IN1 and low at IN2, using Arduino and MATLAB.
• Then, create and encoder object and specify the pins on which encoder is connected here in this case it
should be connected to pin 2 and 3 of Arduino uno.
• Now input the speed of the motor which is desired.
• Apply a PWM wave to the motor so that motor starts.
• In a loop read the speed of the motor using readSpeed() function.
• Compute the error in the loop.
• Use equation of proportional controller and multiply KP with error and use this to apply PWM.
• The response of the motor in close loop in shown below.

Figure Error! No text of specified style in document..4: Response of DC Motor with Variable P

SAMPLE CODE
clear all
a = arduino('COM ','Uno','Libraries','rotaryEncoder'); % place number of COM port encoder
= rotaryEncoder(a,'D2','D3',475);
RPM=0; %initial value r=rateControl(200); RPM=readSpeed(encoder);
inputSpeed= ; % Students are required to put some value here to avoid program error maxSpeed= ;
% determine by your self (hint previous lab) writeDigitalPin(a,'D5',1); writeDigitalPin(a,'D4',0);
outputSpeed=readSpeed(encoder);
error=inputSpeed-outputSpeed; pwm=0;
for jj=1:50 outputSpeed=readSpeed(encoder);
RPM(jj)=outputSpeed; error=inputSpeed-outputSpeed;
pwm=error/maxSpeed; if pwm>1 pwm=1; end
writePWMDutyCycle(a,"D9",pwm);
waitfor(r); end writePWMDutyCycle(a,"D9",0); % Note
the time of motor ON-OFF
% Subplot time versus RPM
% Subplot time versus error

TASKS
a) Determine maximum speed of motor (run motor with maximum duty cycle and read speed – done in the
last lab).
b) Read the speed of motor in closed loop and measure error, plot the speed and error
versus time (two best plots).

c) Introduce proportional control variable and adjust or tune it between (0-20) in effort
to minimize the error. Plot two best results line in (b).

When KT=10
When KT= 15

Conclusion:
To summarize, implementing closed-loop control for a DC motor offers improved performance
and accuracy by minimizing the discrepancy between the desired reference speed and the actual
motor output speed. Proportional control is a commonly employed technique that adjusts the
motor's voltage based on the speed error. By continuously monitoring and adapting the motor's
response to input changes, closed-loop control enhances stability, precision, and overall control
of the motor's behavior. This makes it a valuable and versatile approach applicable to various
domains and applications.