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Presentation 2024

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17 views16 pages

Presentation 2024

Uploaded by

tahseenalhashimy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Controlling DC Motor through Virtual Gears

Prepared by
Mohammed
Zahraa
Reduan
Athraa

Supervisor
Dr Samir M. Falih
Introduction
Direct Current (DC) motor is a motor that turns energy from a direct
current and turns this into mechanical energy.
A DC motor contains different parts that understanding each one can assist to
know deeply these parts cooperate with each other and in the end how DCs work.
These components are: a stator, a rotor, a yoke, poles, armature windings, field
windings, commutator, and brushes. Many of its parts are the same as parts of AC
motor, but with a little change.
Types of DC motors
 Permanent Magnet Motors
 Shunt Motors
 Series Motors
 Compound Motors
Applications of DC Motor
 Pumps
 Toys
 Electric Cars
 Robots
DC motor Advantages and Disadvantages

Speed Control of DC motor


the speed of a DC motor can control in three ways:
 By varying the flux, and by varying the current through field winding
 By varying the armature voltage, and the armature resistance
 Through the supply voltage

Both Armature Control and Flux Control methods cannot provide speed control in
the desirable range. Moreover, the flux control method can affect commutation.
While the armature control method involves huge power loss due to its usage of
resistor in series with the armature. Therefore, a different method is often desirable
is the one that controls the supply voltage to control the motor speed.
Apart from these two techniques, the most widely used technique is the use of pulse
width modulation to achieve speed control of a DC motor. PWM involves
application of varying width of pulses to the motor driver to control the voltage
applied to the motor. This method proves to be very efficient as the power loss keeps
at minimum, and it doesn’t involve the use of any complex equipment.
PWM is achieved by varying the pulses applied to the enable pin of the motor driver
IC to control the applied voltage of the motor. The variation of pulses is done by the
micro controller, with the input signal from the push buttons.

Open Loop System:


An open-loop system is a type of control system where the output is not directly fed
back to the input for correction. In an open-loop system, the control action is
determined solely by the input commands, without considering the actual output or
system response. This means that there is no feedback mechanism to adjust the
control action based on the system's performance. An example of an open-loop
system is a washing machine that runs through a predefined cycle without
monitoring the cleanliness of the clothes.
Close Loop System:
A closed-loop system, also known as a feedback control system, is a control system
where the output of the system is monitored and compared to a reference or desired
value. Based on this comparison, corrective action is taken to adjust the system's
behavior and bring the output closer to the desired value.

The Characteristics of The P, I, And D Terms


The working principle behind a PID controller is that the proportional (“P”), integral
(“I”), and derivative (“D) terms must be individually adjusted or ‘tuned’. Based on
the difference between these values a correction factor is calculated and applied to
the input.It is known that P controller eliminates the steady state error through the
interval term. But we also made it clear that neither the p term or I term can
contribute to actively dampening the overshoots. This is where the derivative comes
into play. Let’s look at how this new term handles the error signal the job of the
derivative term is to take the rate of change of the error as its control signal. The
proportional term decreases the rise time the interval term eliminates a steady state
error and the derivative term reduces the overshoots and ringing.
PID controller output

Closed Response Rise Time Overshoot Settling Time S-S Error


Kp Decrease Increase Small Change Decrease
Ki Decrease Increase Increase Decrease
Kd Small Change Decrease Decrease No Change
Effects of PID constants
MATLAB SIMULINK Design

Dc motor Simulink block

PID controller Simulink block


Complete set of Dc motor and PID controller block

Wiring diagram of actual designed modal


Actual Setup for DC Motor Speed Control

Results and Discussion


Open loop control has been established by connecting the necessary components in
order to achieve the required connection set up , fig. shows the set up hardware for
open loop controller , after the set up done , the source voltage has been supplied
and the required set point is set up by the software through Arduino IDE , since this
type of controller has no feedback signal , the (PV)value which represent the actual
speed of the DC motor in RPM never been reach and it keeps fluctuating depending
on the amount of supplied voltage , fig. shows the response of the controller vs the
set up speed ,while fig. shows the LCD readings of the sit point speed and the actual
speed values .
open loop response vs set point speed of 120 RPM

for closed loop , After hardware have been set and connected properly with wires
and the voltage source supply the configuration with the required amount (12 VDC)
, the configuration of the research connected to the Arduino IDE and the source code
has been uploaded to the Arduino UNO , the set-point is changing by the
potentiometer in order to see the response of the set to achieve the required speed
(RPM) , after that, a manual tuning process has been done to achieve the optimal
values of the PID controller constants (Kp,Ki,Kd) , The results are shown below :
Response of the controller with Kp =1.

Here we fixed the values of Kd and Ki as (0.001 and 5 ) respectively and tuning the
value of Kp in order to see its effect on the response knowing that the Blue curve
represent the set point while the Red one represent the process value (actual value ).
Response of the controller with Kp =5.

Response of the controller with Kp =10.

After that , the values of Kp and Ki as (1 and 5 ) respectively and tuning the value
of Kd in order to see its effect on the response .
Response of the controller with Kd =1.

Response of the controller with Kd =10.


Response of the controller with Kd =0.001.

Finally, the values of Kp and Kd as (1 and 0.001 ) respectively and tuning the
value of Ki in order to see its effect on the response .

Response of the controller with Ki =1.


Response of the controller with Ki =5.

Response of the controller with Ki =10.

Discussion of the results


The values of the PID controller constant play major role in the output response
which can be shown clearly from the above figures, Kp value affected on the
overshoot and the rise time as well as the steady state error , by changing the kp
value from (1 , 5 and 10) , overshoot increased by approximately (30% ) while the
rise time decreased by approximately (3) seconds , steady state error has been
decreased also in this case while there were no major effect on the settling time .
After that , the value of kd has been changed from (0.001 ,1,10) , overshoot
decreased by approximately (15% ) while the rise time didn’t change significantly ,
steady state error also didn’t change significantly either , the settling time has been
decrease significantly by approximately (15 seconds) .
And finally , the value of ki has been changed from (1,5,10) , overshoot increased
significantly by approximately (25% ) while the rise time decreased by
approximately (8 seconds ) , steady state error also decreased significantly , the
settling time has been increase significantly by approximately (10 seconds) .
At the end of tuning process, the optimal values of the PID controller have been
found as (Kp=1 , Ki=5 and Kd=0.001) and were implemented in the Arduino code .

PID response at its optimal performance

PID response shown on LCD

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