Http:// Title on all pages DC motor modeling with hands on experiments on DSP2 learning module (introductory lecture to mini project)

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http://www.ro.feri.uni-mb.si

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DC motor DC motor modelingmodeling with hands on with hands on experiments onexperiments on DSP2 learning module DSP2 learning module

(introductory lecture to mini project)(introductory lecture to mini project)

Doc.dr. Suzana Uran

Address : Smetanova 17, SI-2000 Maribor, Slovenia; Address : Smetanova 17, SI-2000 Maribor, Slovenia; E-mail: E-mail: [email protected] @uni-mb.si http://www.ro.feri.uni-mb.sihttp://www.ro.feri.uni-mb.si

University of Maribor,Faculty of Electrical Engineering and Computer Science

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ContentsContents

• 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

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http://www.ro.feri.uni-mb.si/projekti/dsp2/

DSP2 card

Exchangeable Control Plant

Control system: DSP2 learning moduleControl system: DSP2 learning module

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DSP2 DSP2 card: short descriptioncard: 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

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Control plant: DC/AC motorControl plant: DC/AC motorhttp://www.ro.feri.uni-mb.si/projekti/dsp2/

H-bridge DC motor

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Control plant: Buck converterControl plant: Buck converter

buck

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RC oscilator: ADDA+RC control plantRC oscilator: ADDA+RC control planthttp://remotelab.ro.feri.uni-mb.si/experiments_rc_oscilator.asp

RC control plant

also REMOTE experiment!

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DSP2 module: Rapid Control PrototypingDSP2 module: Rapid Control Prototyping

MATLAB/SIMULINK and DSP Terminal on Personal computer

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SIMULINK libraries for DSP2 learning moduleSIMULINK 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

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Modelling of DC motor current control loopModelling 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.

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DC motor, load, encoder dataDC motor, load, encoder data

DC motor ESCAP 28D2R-219P with incr. encoder.

Nominal voltage

12 V Torque constant

19.5

mNm/ANominal current

1.5 A Rotor inertia 1.76*10-6

kgm2

Nominal speed

5000 rev/min

Load inertia 7.56*10-6

kgm2

Incremental encoder

144*4=576 p/rev

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Getting started: DSP2 learning moduleGetting 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

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Getting startedGetting startedIn the new opened window ( see figure below)

double click New Model button and choose new file name!

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Getting startedGetting startedA new SIMULINK file for work with DSP2 learning module is opened with 3 buttons left above.

Now you can start building SIMULINK block scheme.

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Getting startedGetting 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

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Getting startedGetting startedIn 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

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• 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

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Getting startedGetting startedBuild SIMULINK block scheme below:

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Set parameters on the left for Pulse Generator block

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Getting startedGetting 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)

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• after code buiding and download to DSP2 the DSP Terminal program starts. FIRST set Ioff as below (middle value to 0)


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Getting startedGetting startedAfter setting ENABLE=1, and selecting Ia, IaREF to view we get:

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• 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!

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0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08-1

0

1

2

3

4

5

6

7

8

time(s)

wm(rad/s)

Motor speed response/SimulinkMotor speed response/Simulink

input signal IaREF

Speed response

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ConclusionConclusion

Current control loop is modelled as 1st order system.

-

KM

KT , TT

Md

m 1/JCIaREF

KT = 1,TT = 0.9 ms JC = 9.32. 10-6 kgms-2

KM=0.0195 Nm/A

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Motor speed measurementMotor 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

fcutoff = 200 Hz.

Http:// Title on all pages DC motor modeling with hands on experiments on DSP2 learning module (introductory lecture to mini project)

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