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California State Polytechnic University, Pomona College of Engineering Electrical and Computer Engineering
ECE 309L Control Systems Laboratory Spring 2018
DC Motor Control Progress Final Lab Report
By: Emmanuel Bautista-Dizon To: Professor Tarek Elsharhawy
May 29, 2018
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Table of Contents 1. Objectives… Objectives…………… …………………… …………………… …………………… …………………… …………………… ………………….. ………....Page ..Page 3 2. Procedure….… Procedure….…………… …………………… …………………… …………………… …………………… …………………… …………………Pa ………Page ge 3 3. Conclusion…… Conclusion……………… …………………… …………………… …………………… …………………… …………………… ……………..….P …..….Page age 3 4. Appendix Appendix A (Week (Week 1 System System Block Block Diagram)…… Diagram)……………… …………………… …………………… …………...Page ...Page 4 5. Appendix Appendix B (Week (Week 2 Wiring Wiring Diagram) Diagram)………… …………………… …………………… …………………… ……………..Pag …..Pagee 5 6. Appendix Appendix C (Week 5 System System Controlle Controllerr Design Design [TE Tuning Tuning Method])... Method])...………… ………….Page .Page 6 7. Appendix Appendix D (Week (Week 7 System System Modeling Modeling Method).… Method).………..… ……..…………… …………………… …………...Page ...Page 7 8. Appendix Appendix E cont. (Week 7 System Modeling Modeling Method)....... Method)............. ............. .............. .............. ............. ............P ......Page age 8 9. Appendix Appendix F (Week 8 Control System System Analysis)..... Analysis)............ ............. ............. .............. .............. ............. ............. ...........Pag ....Pagee 9 10. Appendix G (Week (Week 8 Control Control System Analysis cont.).............................................Page 10 11. Appendix H (Week (Week 9 Final Demo and Presentation)................................................Pag Presentation)................................................Pag e 11 12. Appendix I (Approved Documents)........................................................... ...............Page 12 13. References………………………… References……………………………………………………… ……………………………………………….Page ………………….Page 22
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1. Objective: The objective of this lab is to design, assemble, and test a DC motor control system. 2. Procedure: a. Create system block diagram b. Research parts, including motor driver, motor and encoder, and myDAQ c. Create schematics/wiring diagram d. Order parts; already have myDAQ, ordered motor encoder and motor driver e. Hook up circuit according to wiring diagrams. f. Find Ki and Kp using Tuning Method and System Modeling Method g. Analyze each method h. Demo project with and without load 3. Conclusion: In Conclusion, we successfully created, assembled, and tested a DC motor control system with and without a load.
To summarize this project, we compared the data obtained from both methods and determined which of the two was better. Both methods resulted in different Ki and Kp values. The different values allowed us to find different values for the rise time, overshoot, and steady state error. For both methods we noticed that when a load was added, the values changed. When we a dded a load, the steady state error increased. We also noticed that the rise time increased. When comparing Method 1- Tuning method and Method 2 - System Modeling, we noticed that Method 1 was better, since its steady state error was smaller while its rise time was smaller. Overall, the lab was very successful in teaching us how to properly execute lab work as well as write a report.
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Appendix A (Week 1 System Block Diagram)
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Appendix B (Week 2 Wiring Diagram)
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Appendix C (Week 5 System Controller Design [TE Tuning Method]) Test values of Ki and Kp until a smooth curve is obtained These are the tested values, with the last value being the best: Ki
Kp
0.1
0.001
0.1
0.002
0.1
0.003
0.1
0.01
0.1
0.011
0.1
0.015
0.1
0.02
0.5
0.02
0.5
0.015
0.5
0.018
1
0.019
1
0.02
1
0.019
1
0.016
1
0.015
1
0.01
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Appendix D (Week 7 System Modeling Method) θ(S)/V(S)=Kt/((LS+R)(JS+b)+Kt2) R Matlab=11Ω R Measured=11.66Ω LMeasured=21mH b=Stall torque/Free run Speed=0.1059Nm/58.641rad/s b=0.001806Nms J=½mr 2=1/2(0.095kg)(0.002m)2 J=1.9x10-7kgm2 Kt=stall torque/stall current=0.1059Nm/1.1A Kt=0.09627 Nm/A
MATLAB code: J = 1.9e-7; b = 0.001806; Kt = 0.09629; Ke = 0.09629; R = 10.9; L = 21e-3;
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Appendix F (Week 8 Control System Analysis) Method 1 – TE Tuning Method
No Load
Load Data Table:
Method
Kp
Ki
Rise Time
Overshoot
Ess
Load)
0.01
1
1.5
0.0352
0.00424
Method 1 (Load)
0.01
1
1.75
0
0.0036
Method 1 (No
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Appendix F (Week 8 Control System Analysis cont.) Method 2 – System Modeling Method
No Load
Load Data Table:
Method
Kp
Ki
Rise Time
Overshoot
Method 2 (No
Ess 0.05
Load)
0.00306
0.9
2.4
0
533
Method 2 (Load)
0.00306
0.9
2.7
0
0.12
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Appendix G (Week 9 Final Demo and Presentation) Method 1 resulted in the best output. We decided this by the fast rise time, as well as a low steady state error. The results were close to method 3, but method 3’s steady state error was higher. Our final values using method 3 were: Kp= 0.01 Ki=1 TR=1.5 %OS=0 ess=4.24% With load, ess changes: ess=0.36%
