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Module 05

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5 views

Module 05

Uploaded by

prashamsganugula1704
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Module-05: Position control of DC Motor

In modern communication systems, an Antenna Positioning System is crucial for applica-


tions that require precise and stable alignment with a target signal source, such as satellite
communications, radar, and wireless networks. Since many signals are highly directional, even
minor deviations in antenna orientation can result in significant losses in signal strength or
data integrity. A reliable positioning system ensures accurate tracking and alignment, com-
pensating for the movement of targets like satellites or aircraft. This improves signal quality,
increases data throughput, and guarantees reliable communication in dynamic or challenging
environments.
To achieve this precision, PID controllers are commonly used in antenna positioning systems.
These controllers ensure that the antenna can adjust its orientation in real-time to accurately
track or align with a moving target. In this experiment, you will design and implement a pro-
totype antenna positioning system using a DC motor as the antenna’s shaft. A potentiometer
will act as the input device to indicate the desired position (angle) for the motor. When the
potentiometer is rotated to a specific angle, the motor shaft should rotate precisely to match
that angle, simulating the behavior of an antenna tracking system.
Objectives: By the end of this experiment, you should be able to:

1. Use a potentiometer to provide the desired position (angle in degrees) for the antenna.

2. Implement an LCD module to display the desired angle.

3. Utilize a motor with an encoder to measure the actual position of the motor.

4. Design and implement a PID controller to ensure the motor accurately rotates to the
desired angle, achieving precise positioning of the antenna.

Report Guidelines: The report to be submitted must have the following:

1. Objectives of the module.

2. Circuit diagram with proper labelling.

3. Block diagram of the system designed.

4. Flowchart of the algorithm.

5. Observations, if any.

ˆ Snap shots of the serial monitor needs to be submitted with your observations. You
have to show how is the performance of the system effected for different values of
Kp , KI , and Kd .

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– With KI = Kd = 0 and increasing Kp .
– With Kp = Kd = 0 and increasing KI .
– Kp = KI = 0 and increasing Kd .
– Finally, with the tuned Kp , KI , and Kd value.

6. Answers to the questions below.

Answer the following:

1. Draw the block diagram of the closed loop system you have implemented in this module.

2. Why did you use a closed loop system to implement position control? Could an open loop
control, i.e., provide the required PWM at the input of the motor and get the desired
position of the motor be used?

3. How did you tune the controller gains? Did you use the Zieglar-Nichols Method? Provide
a justification for your approach.

4. What is the expected root locus of the system?

5. What is your observation when the value of Kp is increased keeping KI and Kd zero? Can
you relate your observation to the root locus you have drawn in the previous question?

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OBSERVATION SHEET
This sheet needs to be attached to the report (print on both sides)

1. Demonstrate the interfacing of the potentiometer to the Arduino UNO. You should be
able to display the desired angle on the LCD.

TA Signature with Date:

2. Demonstrate the effect of increasing Kp keeping KI and Kd zero. Show the TA that you
have taken screenshots of the plot for various values of Kp .

TA Signature with Date:

3. Demonstrate the effect of increasing KI keeping Kp and Kd zero. Show the TA that you
have taken screenshots of the plot for various values of KI .

TA Signature with Date:

4. Demonstrate the effect of increasing Kd keeping Kp and KI zero. Show the TA that you
have taken screenshots of the plot for various values of Kd .

TA Signature with Date:

3
5. Demonstrate the tuned system to the TA, ensuring that the desired angle matches the
actual angle after tuning. Note that once the controller is tuned, you cannot adjust the
controller gains. The TA will verify for different positions of the potentiometer that the
system reaches at least 95% of each desired angle. Additionally, the observation sheet
should include the settling band for the tuned system.

TA Signature with Date:

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