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Abstract— The Microcontroller based adjustable closed-loop The objective of this paper is to explore the approach of
DC motor speed controller systems has already become an designing a microcontroller based closed loop controller.
important drive configuration for many applications across a
wide range of powers and speeds . This is due to their simple The interface circuit and the software are all designed to
control, high reliability, low cost and fast response. Control achieve a better performance.
System Design and Analysis technologies are widely suppress
and very useful to be applied in real-time development. Some The microcontroller system is equipped with an LCD
can be solved by hardware technology and by the advance display and a keypad and software was written to monitor
used of software, control system are analyzed easily.
Fractional HP DC Motors can be used in various applications the registers on the LCD and read commands from the
and can be used as various sizes and rates. The designed keypad. Thus, by using the User Interface Module (UIM)
circuit is stimulated using Real peak and MP LAB. In this the operator can view and/or change all the control and
paper, control techniques of PIC 16F877A microcontroller
and MOSFET, mechanism assignments of analyzed by mainly
monitoring variables of the controller program.
focusing with the “Modeling and Simulation of DC Motor
using MATLAB”. II. MODELING A DC MOTOR
For modeling and simulation of a DC Motor, simple circuit
Keywords—DC Motor, MATLAB/ Simulink , PIC.
of its electrical diagram as shown in Figure 1 is to be
I. INTRODUCTION considered.
Traditionally, the DC Motors and the associate close
A. Closed-Loop System Consideration
loop control systems used to drive them have been
To perform the simulation of the system, an appropriate
modeled using classic control theory techniques, based on
model needs to be established. Therefore, a model based on
transfer functions. Control system design and analysis
the motor specifications needs to be obtained. Figure-1
technologies are widely suppress and very useful to be
shows the DC motor circuit with Torque and Rotor Angle
applied in real-time development. Some can be solved by
consideration.
hardware technology and by the advance used of software,
control system are analyzed easily and detail. DC Motors
can be used in various applications and can be used as
various sizes and rates. The microprocessor computes the
actual speed of the motor by sensing the terminal voltage. It
then compares the actual speed of the motor with the
reference speed and generates a suitable control signal
which is fed into the triggering unit. This unit drives a
Power MOSFET amplifier, which in turn supplies a PWM
voltage to the dc motor. Fig.1.Schematic Diagram of a DC Motor
146
International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 3, March 2012)
B. System Equation From the block diagram in Fig. 2, it is easy to see that the
The motor torque T is related to the armature current, i , by transfer function from the input voltage, V(s), to the
a torque constant K; angular velocity is:
(1)
(11)
The generated voltage, ea, is relative to angular velocity by
D. MATLAB Representation
(2)
To represent the model with m-file, we can perform the
(3) Fig. 2 data as follows;
From Fig. 1 we can write the following equations based on Power P = 0.37 kW
the Speed N = 1500 rpm ,
Rotor Inertia J is assumed to be 0.01
Newton’s law com bined with the Kirchoff’s law:
Supply voltage = 220 volts.
Calculate the torque constant K;
+b = Ki (4)
(12)
+RI =V - K (5)
K=1.4
C. Transfer Function
Using the Laplace transform, equations (3) and (4) can be By using equation (3) for
written as:
(6) (13)
(7) At the steady state (used as analyzed data), both I and ω are
stabilized;
Where s denotes the Laplace operator. From (7) we can
express I(s):
(8)
And
and substitute it in (5) to obtain:
(14)
(9)
147
International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 3, March 2012)
III . SIMULINK MODEL
D. Analysis
We plot the step, impulse and frequency responses of the
given motor model:
B. Driver Circuit
This driver circuit is designed based on the DC motor
current ratings, The current rating of the DC motor is 2.3
Amp So driver circuit is needed. It is the most popular
and cost effective drive circuits for driving MOSFETs. A
bipolar, non-inverting totem-pole driver as shown in Fig 4.
Transistors can be used to supply higher current to the
motor. This circuit handles the current spikes and power
losses making the operating conditions for the PWM
controller more favorable.
149
International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 3, March 2012)
V . SIMULATION RESULTS If any suddenly jerk is coming our PIC IC will not
The proposed control circuit is implemented using software damage. Two pins are also used for ground. In chips with
40pins and more, it is common to have multiple pins for
module like Real PIC Simulator as shown in Fig 9. For the
Vcc and GND. This will help reduce the noise (ground
purpose of coding the software package used is MPLAB.
bounce) in high-frequency systems. The PIC 16F has many
options for the clock source. Most often a quartz crystal
oscillator is connected to input pins OSC1 & OSC2. PIC
16F877A microcontroller can have speed of 0 Hz to 20
MHz.
LCD
Driver ckt
PIC
Power
supply
s
Fig.9(a) Output pulses of PIC16F877A through MPLAB IDE for
ω=500rpm Figure.10 PIC 16F877A Hardware Connection with Power Supply,
Driver circuit and LCD Display
The results shown are for the motor having parameters: The most popular type of encoder is the optical encoder,
V = 220 V, ω=1500 rpm, P = 0.37 kW, I=2.3 A. which consists of a rotating disk, a light source, and a photo
The minimum hardware connections circuit board is as detector (light sensor). The disk .which is mounted on the
shown in Fig.10. Two pins are used to provide supply rotating shaft, has coded patterns of opaque and transparent
voltage tochip. The stable power supply of +5 V is used. sectors.
150
International Journal of Emerging Technology and Advanced Engineering
Website: www.ijetae.com (ISSN 2250-2459, Volume 2, Issue 3, March 2012)
As the disk rotates, these patterns interrupt the light
emitted onto the photo detector, generating a digital or
pulse signal output. It is shown in fig. 12 .
Rotating
disk
VIII. REFERENCES
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