1. http://www.ro.feri.uni-mb.si1 Title on all pages DC motor modeling with hands on experiments on DSP2 learning module (introductory lecture to mini project) Doc.dr. Suzana Uran Address : Smetanova 17, SI-2000 Maribor, Slovenia; E-mail: suzana.uran@uni-mb.si http://www.ro.feri.uni-mb.si University of Maribor, Faculty of Electrical Engineering and Computer Science

2. http://www.ro.feri.uni-mb.si2 Title on all pages Contents About DSP2 learning module DC motor modelling –hands on exercise: current controlled DC motor model (we look for a model of current control loop ) Conclusion

3. http://www.ro.feri.uni-mb.si3 Title on all pages http://www.ro.feri.uni-mb.si/projekti/dsp2/ DSP2 card Exchangeable Control Plant Control system: DSP2 learning module

4. http://www.ro.feri.uni-mb.si4 Title on all pages DSP2 card: short description Signal processor TI TMS320C32-60, 3 fast analog inputs 12 bit (2.6us conv. time) 8 MUX analog inputs 12 bit, 1 analog bipolar output(12 bit)/2 unipolar outputs 1 PWM output (3 phase) 1 input for incremental encoder 3 digital outputs and 1 digital input (isolated) RS 232 duplex communication port

5. http://www.ro.feri.uni-mb.si5 Title on all pages Control plant: DC/AC motor http://www.ro.feri.uni-mb.si/projekti/dsp2/ H-bridge DC motor

6. http://www.ro.feri.uni-mb.si6 Title on all pages Control plant: Buck converter buck

7. http://www.ro.feri.uni-mb.si7 Title on all pages RC oscilator: ADDA+RC control plant http://remotelab.ro.feri.uni-mb.si/experiments_rc_oscilator.asp RC control plant also REMOTE experiment!

8. http://www.ro.feri.uni-mb.si8 Title on all pages DSP2 module: Rapid Control Prototyping MATLAB/SIMULINK and DSP Terminal on Personal computer

9. http://www.ro.feri.uni-mb.si9 Title on all pages SIMULINK libraries for DSP2 learning module Embedded Target for DSP-2 board DSP2 learning module DSP blockset Standard SIMULINK libraries http://www.ro.feri.uni-mb.si/projekti/dsp2/documentation/ DSP2_Library_for_Simulink.pdf

10. http://www.ro.feri.uni-mb.si10 Title on all pages Modelling of DC motor current control loop Hands on experiment: Build a MATLAB/SIMULINK block scheme for open loop control of current controlled DC motor (ESCAP 28D2R-219P) using DSP2 learning module! Measure motor speed with incremental encoder.

11. http://www.ro.feri.uni-mb.si11 Title on all pages DC motor, load, encoder data DC motor ESCAP 28D2R-219P with incr. encoder. Nominal voltage 12 VTorque constant 19.5 mNm/A Nominal current 1.5 ARotor inertia1.76*10 -6 kgm 2 Nominal speed 5000 rev/min Load inertia7.56*10 -6 kgm 2 Incremental encoder 144*4=576 p/rev

12. http://www.ro.feri.uni-mb.si12 Title on all pages Getting started: DSP2 learning module In MATLAB6p5/work directory create a new directory named: VILLACHvisit Run MATLAB6p5 and go to VILLACHvisit directory In MATLAB command window write command: dsp2lib http://www.ro.feri.uni-mb.si/projekti/dsp2/documentation/ DSP2_Library_for_Simulink.pdf

13. http://www.ro.feri.uni-mb.si13 Title on all pages Getting started In the new opened window ( see figure below) double click New Model button and choose new file name!

14. http://www.ro.feri.uni-mb.si14 Title on all pages Getting started A new SIMULINK file for work with DSP2 learning module is opened with 3 buttons left above. Now you can start building SIMULINK block scheme.

15. http://www.ro.feri.uni-mb.si15 Title on all pages Getting started Getting started In DSP2 learning module library find blocks with name DCMOT choose block DCMOT tokovna regulacija (DCMOT TOKREG Ia – motor current control loop ) and put it in your SIMULINK scheme choose block DCMOT meritev hitrosti (DCMOT OMEGA – motor speed measurement) and put it in your SIMULINK scheme

16. http://www.ro.feri.uni-mb.si16 Title on all pages Getting started In menu of your file choose: Simulation/Simulation Parameters/Real-Time Workshop For DSP-2 options 2 set: 576 number of lines per revolution for Incremental encoder

17. http://www.ro.feri.uni-mb.si17 Title on all pages Getting started Getting started In Embedded Target for DSP-2 board library find block To Terminal – it is a block for data visualisation on your PC use three blocks To Terminal as shown on next slide In Embedded Target for DSP-2 board library find block From Terminal – it is a block for data input from keyboard of your PC use two blocks From Terminal as shown on next slide

18. http://www.ro.feri.uni-mb.si18 Title on all pages Getting started Build SIMULINK block scheme below:

19. http://www.ro.feri.uni-mb.si19 Title on all pages Getting started Set parameters on the left for Pulse Generator block

20. http://www.ro.feri.uni-mb.si20 Title on all pages Getting started Double click Edit Parameters (blue button) Enter definitions for: –T = 200e-6; % sampling time –amp (choose – carefully consider) –per (choose – carefully consider) –offset (choose – carefully consider) Double click Update Parameters (blue button) Switch on DSP2 learning module and double click Build (blue button)

21. http://www.ro.feri.uni-mb.si21 Title on all pages after code buiding and download to DSP2 the DSP Terminal program starts. FIRST set Ioff as below (middle value to 0) Getting started

22. http://www.ro.feri.uni-mb.si22 Title on all pages Getting started After setting ENABLE=1, and selecting Ia, IaREF to view we get:

23. http://www.ro.feri.uni-mb.si23 Title on all pages Getting started Did you get the same response? What happens if we choose offset=0? WHY? Determine the order and parameters of the model for the current control loop ! If there is enough time left find the speed response of DC motor!

24. http://www.ro.feri.uni-mb.si24 Title on all pages Motor speed response/Simulink input signal IaREF Speed response

25. http://www.ro.feri.uni-mb.si25 Title on all pages Conclusion Current control loop is modelled as 1 st order system. - KMKM K T, T T MdMd mm 1/J C I aREF K T = 1, T T = 0.9 ms J C = 9.32. 10 -6 kgms -2 K M =0.0195 Nm/A

26. http://www.ro.feri.uni-mb.si26 Title on all pages Motor speed measurement Motor speed measurement is obtained from position measurement of incremental encoder by differenciation  is very noisy. To filter out the noise we use : 2.nd order Butterworth filter with f cutoff = 200 Hz.