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25 views4 pages

Ex 06

Uploaded by

Rohan singh suryavanshi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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EXPERIMENT NO.

06

AIM: Designing and implementing a closed-loop control system for a DC motor involves several
key steps, including modeling the motor, designing the control algorithm, and implementing the
system in MATLAB/Simulink. Here's a step-by-step guide to help you through the process:

Step 1: Modeling the DC Motor

1. Motor Equations:
The DC motor can be modeled using the following differential equations:
o Electrical equation: V(t)=Ldi(t)dt+Ri(t)+Keω(t)
o Mechanical equation: Jdω(t)dt+Bω(t)=Kmi(t)
o Where:
o V(t) is the input voltage.
o i(t) is the armature current.
o ω(t) is the angular velocity.
o L is the armature inductance.
o R is the armature resistance.
o Ke is the back EMF constant.
o Km is the torque constant.
o J is the moment of inertia.
o B is the friction coefficient.
2. Transfer Function:
Convert the motor equations into a transfer function or state-space representation. For
example:

3.Simulink Model:
Implement the transfer function in Simulink using blocks like Transfer Function, Gain,
Sum, etc.

Step 2: Design the Controller

 Control Objective:
Define the control objective, such as speed or position control.

 Controller Type:
Choose a suitable controller type, such as Proportional-Integral-Derivative (PID), based on the
system requirements.
 PID Tuning:

 Use methods like Ziegler-Nichols, trial and error, or MATLAB’s PID Tuner to tune the
PID controller.
 Ensure that the controller meets the desired transient and steady-state performance
criteria (e.g., settling time, overshoot, steady-state error).

 Simulink Implementation:
Implement the PID controller in Simulink using the PID Controller block.

Step 3: Closed-Loop System Simulation

1. Simulate the System:


Connect the DC motor model with the PID controller in Simulink to form a closed-loop
system. Simulate the system's response to a step input or any desired input profile.
2. Analyze the Response:
o Examine the system’s response in terms of speed, position, or any other relevant
parameter.
o Verify that the system meets the design specifications (e.g., no overshoot, quick
settling time).

Step 4: Implement on Hardware

1. Choose Hardware:
Select a suitable hardware platform like Arduino, Raspberry Pi, or a DSP board with
PWM output and ADC input capabilities for real-time implementation.
2. Motor Driver:
Use an H-bridge motor driver compatible with the chosen hardware platform to control
the motor.

3.Real-Time Control:

 Use MATLAB’s Simulink Coder to generate code from the Simulink model and deploy
it to the hardware platform.
 Implement sensor feedback (e.g., encoder for position feedback) to close the loop in real-
time.

4.Test and Debug:


Test the closed-loop control system on the hardware. Adjust the controller parameters if
necessary to ensure stability and performance.

Step 5: Validation and Refinement

1. Performance Verification:
Compare the simulation results with the real-time hardware implementation. Ensure that
the hardware system behaves as expected.
2. Refinement:
Fine-tune the controller parameters on the hardware to account for non-idealities such as
sensor noise, motor friction, etc.

MATLAB/Simulink Tools to Use:

 Simulink for system modeling and simulation.


 PID Tuner for automatic tuning of the PID controller.
 Simulink Coder for generating C/C++ code for the hardware platform.
 MATLAB for scripting and data analysis.

Example Code Snippet for PID Tuning in MATLAB:

% Define transfer function parameters

J = 0.01; % Moment of inertia

B = 0.1; % Friction coefficient


K_m = 0.01; % Motor constant

R = 1; % Resistance

L = 0.5; % Inductance

% Transfer function

s = tf('s');

P_motor = K_m / ((J*s + B)*(L*s + R) + K_m*K_e);

% PID Tuning

C = pidtune(P_motor, 'PID');

% Simulate the closed-loop system

T = feedback(C*P_motor, 1);

step(T);

This approach will help you design, simulate, and implement a closed-loop control system for a DC
motor using MATLAB/Simulink and suitable hardware platforms.

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