DC Motor-Clutch-Generator Control Workstation Senior Project Proposal

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DC Motor-Clutch-Generator Control
WorkstationSenior Project Proposal

• Simon Benik and Adam Olson
• Senior Project Proposal
• Advisor Dr. Gary Dempsey

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Contents

• Project Summary
• 2006 Mini - Project
• Software
• Modeling
• Controller
• Conclusion

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Project Summary

• Physical System
• Application to Real World
• Goals
• EMAC 80515 C programming
• Modeling
• Controllers
• Simulink/Physical System Interface

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2006 Mini Project

• Linear Model
• Single Motor
• Assembly

Linear Model
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System Functions

• Physical System
• EMAC 80515 Development Board
• Simulink

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Software Goals

• Expand off of Mini-project
• Recording Data In Ram
• Serial Communication
• GUI Interface With Matlab
• Control Motor Velocity, Clutch and Generator
  Resistance

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Mini-Project

• Data Taken Every 1 ms
• Display Uses Look-up Tables
• Keypad Interface
• P/PI Controller Written In Assembly
• Joystick to Control System

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Recording Data In Ram

• Records with E
• 255 data points
• Adjustable record time

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Serial Communication

• RS232 connection
• DUART chip
• Interfaces with Matlab
• Sends RPM Data
• Receives Variables
• Real-time communication

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Matlab

• 3 .M Files Created for testing
• -Receiving Real-time Data, RAM Data, and sending
  Variables
• Provides a base for GUI

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Matlab GUI
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System Modeling and Simulink

• Nonlinear Friction
• System Models
• Model Validation
• Model GUI

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Nonlinear Frictions

• Coulomb Friction

• Static Friction

• Viscous Friction

• All Frictions Combined

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DC Motor Nonlinear Friction
Nonlinear component
Linear component
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Simulation and Experimental Results
Linear motor model simulation (poor accuracy to
real system)
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Plant Modeling
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Derived Plant Model
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Nonlinear Model Validation
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Transient and Steady State Validation
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Hybrid Analog-Digital Controls System
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DC Motor Simulink GUI
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Controller Design

• Hybrid Control System Analysis
• Controller Design
• Practical Limitations

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Hybrid Controls System
Open-Loop System with PWM zero-order hold
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Controller Designs

• Proportional controller
• Proportional-integral controller

Nonlinearity affects PM, OS, etc.
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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

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Proportional Controller
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Proportional-integral Controller
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Conclusions

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

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Conclusions

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

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Conclusions

• Problems In Code
• LCD Update
• Highest Bit for Serial Communication
• Sending 0s to MATLAB

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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

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Questions
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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

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Schedule of Tasks
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