1 / 20

Feedback Speed Control

Feedback Speed Control. Embedded Systems Interfacing. Overview. Background Task 1 MATLAB ® Step Response Root Locus Task 2 Scaled Coefficients Task 3 Proportional-Integral Speed Control Task 4 Step Response for: Critically Damped Over Damped Under Damped. PWM/Motor Speed Labs. +12 VDC.

oshin
Download Presentation

Feedback Speed Control

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript


  1. Feedback Speed Control Embedded Systems Interfacing

  2. Overview • Background • Task 1 MATLAB® Step Response Root Locus • Task 2 Scaled Coefficients • Task 3 Proportional-Integral Speed Control • Task 4 Step Response for: • Critically Damped • Over Damped • Under Damped

  3. PWM/Motor Speed Labs +12 VDC +5 VDC +5 VDC LM2907 PIC24FJ128 ADC PWM V(speed) TD62003AP

  4. Open-Loop Load-Speed Characteristics Speed Load

  5. Block Diagram Darlington Driver, Motor and Freq-to-Volt Internal To feedback.c PIC24FJ128

  6. PID Controller PID • Time-Domain • Laplace-Domain of PI Controller

  7. Stability • Control Ratio • Critically Damped

  8. Control Algorithm

  9. Task 1 – Step Response Analysis • Within MATLAB® • Define A and B • Define transfer Function • Use step()

  10. Task 2 – PID Gains

  11. Task 3 Within main( ) • Initialization • RD0 • Timer 3 • ADC Interrupts and Timer 3 Interrupt • PWM • ADC • PMP then LCD • LCD text on screen

  12. Task 3 Within main( ) • Endless Loop • Wait for for semaphore == 1 • Clear semaphore • Calculate new output value using difference equation • Write to PWM • Update out(k+1), in(k+1), and in(k+2) • Display Speed

  13. Task 3 Within Timer 3 ISR • Clear Interrupt flag • Start sampling

  14. Task 3 Within ADC ISR • Get new speed reading and clear DONE • Set semaphore • Check for one-hundred passes (100 x 50ms = 5 s) • If 100 passes then • Toggle RD0 • Calculate new reference = Step*D0 + Offset • Reset pass count • Else • Increment pass count • Clear ADC interrupt flag

  15. Task 3 • Download to project folder • feedback.c • peripherals.a (library archive) • peripherals.h • Create project and add all three files • Add linker script • Create heap

  16. Open-Loop Load-Speed Characteristics Closed Loop Speed Open Loop Load

  17. Task 4 • Use Internal Reference • Use MPLAB’s Data Monitor and Control Interface to Adjust K1 and K2 • Capture Image on MSO and repeat for • Critically Damped • Over Damped • Under Damped

  18. Data Monitor and Control Interface

  19. DMCI Configuration Right Click

  20. DMCI Use • Press Save after Dynamic Data Control is configured • Press Halt • Adjust Sliders • Use Mouse • Up arrow and Down arrow • Press Start

More Related