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

2006 Mini Project Linear Model Single Motor Assembly Linear Model

System Functions Physical System EMAC Development Board Simulink

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 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 Records with ‘E’ 255 data points Adjustable record time

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

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

Matlab GUI

System Modeling and Simulink Nonlinear Friction System Models Model Validation Model GUI

Nonlinear Frictions Static Friction Coulomb Friction Viscous Friction All Frictions Combined

DC Motor Nonlinear Friction Nonlinear componentLinear component

Simulation and Experimental Results Linear motor model simulation (poor accuracy to real system)

Plant Modeling (torque) (Inertia) (mechanical inductance) (friction) (velocity) (current) (capacitance) (susceptance) (conductance) (voltage)

Derived Plant Model

Nonlinear Model Validation

Transient and Steady State Validation

Hybrid Analog-Digital Controls System

DC Motor Simulink GUI

Controller Design Hybrid Control System Analysis Controller Design Practical Limitations

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

Controller Designs Proportional controller Proportional-integral controller Nonlinearity affects PM, %OS, etc.

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;

Proportional Controller

Proportional-integral Controller

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

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

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

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

Questions

Equipment and Tools EMAC 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

Schedule of Tasks X X X