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DC Motor-Clutch-Generator Control Workstation Senior Project Proposal. Simon Benik and Adam Olson Senior Project Proposal Advisor: Dr. Gary Dempsey. Contents. Project Summary 2006 Mini - Project Software Modeling Controller Conclusion. Project Summary. Physical System

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dc motor clutch generator control workstation senior project proposal

DC Motor-Clutch-Generator Control WorkstationSenior Project Proposal

Simon Benik and Adam Olson

Senior Project Proposal

Advisor: Dr. Gary Dempsey

contents
Contents
  • Project Summary
  • 2006 Mini - Project
  • Software
  • Modeling
  • Controller
  • Conclusion
project summary
Project Summary
  • Physical System
  • Application to Real World
  • Goals
    • EMAC 80515 C programming
    • Modeling
    • Controllers
    • Simulink/Physical System Interface
2006 mini project
2006 Mini Project
  • Linear Model
  • Single Motor
  • Assembly

Linear Model

system functions
System Functions
  • Physical System
  • EMAC 80515 Development Board
  • Simulink
software goals
Software Goals
  • Expand off of Mini-project
  • Recording Data In Ram
  • Serial Communication
  • GUI Interface With Matlab
  • Control Motor Velocity, Clutch and Generator Resistance
mini project
Mini-Project
  • Data Taken Every 1 [ms]
  • Display Uses Look-up Tables
  • Keypad Interface
  • P/PI Controller Written In Assembly
  • Joystick to Control System
recording data in ram
Recording Data In Ram
  • Records with ‘E’
  • 255 data points
  • Adjustable record time
serial communication
Serial Communication
  • RS232 connection
  • DUART chip
  • Interfaces with Matlab
    • Sends RPM Data
    • Receives Variables
  • Real-time communication
matlab
Matlab
  • 3 .M Files Created for testing
    • -Receiving Real-time Data, RAM Data, and sending Variables
  • Provides a base for GUI
system modeling and simulink
System Modeling and Simulink
  • Nonlinear Friction
  • System Models
  • Model Validation
  • Model GUI
nonlinear frictions
Nonlinear Frictions
  • Coulomb Friction
  • Static Friction
  • Viscous Friction
  • All Frictions Combined
dc motor nonlinear friction
DC Motor Nonlinear Friction

Nonlinear component

Linear component

slide16

Simulation and Experimental Results

Linear motor model simulation (poor accuracy to real system)

plant modeling

(torque)

(current)

(Inertia)

(capacitance)

(mechanical inductance)

(susceptance)

(friction)

(conductance)

(velocity)

(voltage)

Plant Modeling
controller design
Controller Design
  • Hybrid Control System Analysis
  • Controller Design
  • Practical Limitations
hybrid controls system
Hybrid Controls System

Open-Loop System with PWM zero-order hold

controller designs
Controller Designs
  • Proportional controller
  • Proportional-integral controller

Nonlinearity affects PM, %OS, etc.

implementation of controllers
Implementation of Controllers
  • Proportional Controller

- Diff = (RPMsetval - RPMin);

- number = Diff * kp;

- number = number + 461;

  • Proportional-integral Controller- Diff = (RPMsetval - RPMin);

- number = Diff * ki;

- number = number + lastRPM;

- lastRPM = number;

conclusions
Conclusions
  • Software Design
  • Problems in Code
  • Next Years Mini-Project
  • Accomplishments and Future Work
conclusions30
Conclusions

Software Design

  • EMAC Code
    • 1,200 lines of assembly
    • 150 lines of C
  • Matlab Code
    • 250 lines
  • Matlab (GUI) Code
    • 100 lines
conclusions31
Conclusions

Problems In Code

  • LCD Update
  • Highest Bit for Serial Communication
  • Sending 0’s to MATLAB
conclusions32
Conclusions
  • Accomplishments
    • Non-linear Model
    • Serial Communication
    • GUI for Both Model and Physical System
  • Recommendation For Future Work
    • Sending RPM and PWM Data
    • More Advanced Controllers
equipment and tools
Equipment and Tools
  • EMAC 80515 Development Board
  • HP 30V Power supplies
  • Pittman DC Motors
  • Reell EC15 Spring Clutch
  • 5.6 Ohm, 8.7 Amp Potentiometer
  • Matlab and Simulink Software on a PC