Microcontroller-Control Systems-Project Report, Study Guides, Projects, Research of Control Systems

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Motor control questions^ „

Why do we need speed control?

How is DC motor speed controlled?

How is motor direction controlled?

What circuits can be used?

Reasons for accurate speed control

Motor speed shouldbe independent ofload.

Differential driveplatforms need tosynchronize wheelspeed to go in astraight line.

Simple PWM circuit

U1A74HC14A

U1B 74HC14A

U1C 74HC14A

U1D 74HC14A

U1E 74HC14A

U1F 74HC14A

C1CAP NP

D1DIODE

D2DIODE

R2POT

MG1 MOTOR DC

H-Bridge motor driver circuit

V+

V+

M1 DC Motor Q1IRF

Q52N

Q

2N

R64.7K

R24.7K

R14.7K

R34.7K

R54.7K

U1C74HC

U1B74HC08^45

Q

IRF

U1C74HC08 9 10

R44.7K

Q

2N

Q

IRF

Q3IRF

U1A74HC

Q7IRF

Input A

Input B

PWM Input

CIRCUIT

INPUTS

S

S S^

D D S

D D

G G

G G

A^

B^

C^

Output

N^

Channel

Brake

P^

Channel

Brake

Forward

Reverse

X^

X^

Motor

Off

D

G

S

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Motor control diagram

PROCESSOR

DC

MOTOR

ENCODER

H-BRIDGE

CIRCUIT

Control systems^ „

What is a control system?

What are some examples?

What are the types of control systems?

How are control systems represented?

Open loop control system

GAIN

INPUT

PLANT

OUTPUT = INPUT X GAIN

Closed loop control systems^ „

Use a measurement of output to controlthe input (Feedback)

Examples include:

„

Air conditioning thermostat

„

Automobile cruise control

Motor control diagram

PROCESSOR

DC

MOTOR

ENCODER

H-BRIDGE

CIRCUIT

PID Closed loop control system^ „

PID controls the gain portion of theclosed loop control system.

„

PID algorithms adjust the gain to theplant based on several characteristics ofthe feedback, not just the currentvalue.

Sample PID output chart

Set point

Rise time

Overshoot

Settling time

Peak time

Overdamped

Underdamped

PID implementation^ „

What is the mathematics of PID?

How is it programmed?

What are some common problems?

How is the PID behavior optimized?

Error term^ „

The error term is derived by subtracting the feedback(motor speed) from the set point (set speed).

„

This is the error in terms of a number of encodercounts per unit time.

I GAIN

INPUT

PLANT

SUM

FEEDBACK

P GAIN D GAIN

SUM

Proportional term^ „

Simple proportional coefficient Kp is multiplied bythe error term.

„

Provides linear response to the error term

I GAIN

INPUT

PLANT

SUM

FEEDBACK

P GAIN D GAIN

SUM