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DC motor modeling with hands on experiments on DSP2 learning module (introductory lecture to mini project)

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DC motor modeling with hands on experiments on DSP2 learning module (introductory lecture to mini project). Doc.dr. Suzana Uran. University of Maribor, Faculty of Electrical Engineering and Computer Science. Address : Smetanova 17, SI-2000 Maribor, Slovenia;

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slide1

DC motor modelingwith hands on experiments on DSP2 learning module

(introductory lecture to mini project)

Doc.dr. Suzana Uran

University of Maribor,

Faculty of Electrical Engineering and Computer Science

Address : Smetanova 17, SI-2000 Maribor, Slovenia;

E-mail: suzana.uran@uni-mb.si http://www.ro.feri.uni-mb.si

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contents
Contents
  • About DSP2 learning module
  • DC motor modelling
    • hands on exercise:

current controlled DC motor model (we look for a model of current control loop )

  • Conclusion

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control system dsp2 learning module

http://www.ro.feri.uni-mb.si/projekti/dsp2/

DSP2 card

Exchangeable Control Plant

Control system: DSP2 learning module

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DSP2 card: short description

  • Signal processor TI TMS320C32-60,
  • 3 fast analog inputs 12 bit (2.6us conv. time)
  • 8 MUX analog inputs 12 bit ,
  • 1 analog bipolar output(12 bit)/2 unipolar outputs
  • 1 PWM output (3 phase)
  • 1 input for incremental encoder
  • 3 digital outputs and 1 digital input (isolated)
  • RS 232 duplex communication port

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slide5

Control plant: DC/AC motor

http://www.ro.feri.uni-mb.si/projekti/dsp2/

H-bridge

DC motor

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control plant buck converter
Control plant: Buck converter

buck

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rc oscilator adda rc control plant
RC oscilator: ADDA+RC control plant

http://remotelab.ro.feri.uni-mb.si/experiments_rc_oscilator.asp

also REMOTEexperiment!

RC control plant

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slide8

DSP2 module: Rapid Control Prototyping

MATLAB/SIMULINK and DSP Terminal on Personal computer

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simulink libraries for dsp2 learning module
SIMULINK libraries for DSP2 learning module

http://www.ro.feri.uni-mb.si/projekti/dsp2/documentation/ DSP2_Library_for_Simulink.pdf

  • Embedded Target for DSP-2 board
  • DSP2 learning module
  • DSP blockset
  • Standard SIMULINK libraries

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modelling of dc motor current control loop
Modelling of DC motor current control loop

Hands on experiment:

Build a MATLAB/SIMULINK block scheme for open loop control of current controlled DC motor(ESCAP 28D2R-219P) usingDSP2 learningmodule!

Measure motor speed with incremental encoder.

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dc motor load encoder data

Nominal voltage

12 V

Torque constant

19.5mNm/A

Nominal current

1.5 A

Rotor inertia

1.76*10-6kgm2

Nominal speed

5000 rev/min

Load inertia

7.56*10-6kgm2

Incremental encoder

144*4=576 p/rev

DC motor, load, encoder data

DC motorESCAP 28D2R-219P with incr. encoder.

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getting started dsp2 learning module
Getting started: DSP2 learning module

http://www.ro.feri.uni-mb.si/projekti/dsp2/documentation/ DSP2_Library_for_Simulink.pdf

  • In MATLAB6p5/work directory create a new directory named: VILLACHvisit
  • Run MATLAB6p5 and go to VILLACHvisit directory
  • In MATLAB command window write command: dsp2lib

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getting started
Getting started

In the new opened window ( see figure below)

double click New Model button and choose new file name!

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getting started1
Getting started

A new SIMULINK file for work with DSP2 learning module is opened with 3 buttons left above.

Now you can start building SIMULINK block scheme.

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getting started2
Getting started
  • In DSP2 learning module library find blocks with name DCMOT
  • choose block DCMOT tokovna regulacija (DCMOT TOKREG Ia – motor current control loop ) and put it in your SIMULINK scheme
  • choose block DCMOT meritev hitrosti (DCMOT OMEGA – motor speed measurement) and put it in your SIMULINK scheme

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getting started3
Getting started

In menu of your file choose:

Simulation/Simulation Parameters/Real-Time Workshop

For DSP-2 options 2 set:

576 number of lines per revolution for Incremental encoder

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getting started4
Getting started
  • In Embedded Target for DSP-2 board library find block To Terminal – it is a block for data visualisation on your PC
  • use three blocks To Terminal as shown on next slide
  • In Embedded Target for DSP-2 board library find block From Terminal – it is a block for data input from keyboard of your PC
  • use two blocks From Terminal as shown on next slide

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getting started5
Getting started

Build SIMULINK block scheme below:

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getting started6
Getting started

Set parameters on the left for Pulse Generator block

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getting started7
Getting started
  • Double click Edit Parameters (blue button)
  • Enter definitions for:
    • T = 200e-6; % sampling time
    • amp (choose – carefully consider)
    • per (choose – carefully consider)
    • offset (choose – carefully consider)
  • Double click Update Parameters (blue button)
  • Switch on DSP2 learning module and double click Build (blue button)

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slide21
after code buiding and download to DSP2 the DSP Terminal program starts. FIRST set Ioff as below (middle value to 0)

Getting started

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getting started8
Getting started

After setting ENABLE=1, and selecting Ia, IaREF to view we get:

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getting started9
Getting started
  • Did you get the same response?
  • What happens if we choose offset=0? WHY?
  • Determine the order and parameters of the model for the current control loop !
  • If there is enough time left find the speed response of DC motor!

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motor speed response simulink
Motor speed response/Simulink

Speed response

input signal

IaREF

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conclusion

Md

KT , TT

-

m

IaREF

1/JC

KM

Conclusion

Current control loop is modelled as 1st order system.

KM=0.0195 Nm/A

KT = 1,

TT = 0.9 ms

JC = 9.32. 10-6 kgms-2

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motor speed measurement
Motor speed measurement

Motor speed measurement is obtained from

position measurement of incremental encoder

by differenciation is very noisy.

To filter out the noise we use :

2.nd order Butterworth filter with

fcutoff = 200 Hz.

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