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Lab Manual for Automatic Control System - ACS by NARENDRA KUMAR CHAURASIYA

  • Automatic Control System - ACS
  • Practical
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Narendra Kumar Chaurasiya
Narendra Kumar Chaurasiya
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Lab Manual for EE380 (Control Lab) Department of Electrical Engineering, IIT Kanpur Manavaalan Gunasekaran and Ramprasad Potluri Lab Manual Version: September 10, 2013 New in this version: Experiments 1, 2, 3 shortened; Experiment 9 added.

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September 10, 2013 EE380 (Control Lab) IITK ii Lab Manual

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Contents Preface 0.1 Skills the control experiments need to impart 0.2 Past status of Control Systems Laboratory . . 0.2.1 Logistical challenges . . . . . . . . . . 0.2.2 Solution to these challenges . . . . . . 0.3 Planning for the future . . . . . . . . . . . . . 0.3.1 Models for the experiments . . . . . . 0.3.2 Suggested new set of experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Contributions to the lab 1 2 vii vii viii viii viii viii viii ix xi The experimental setup 1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 Microcontroller dsPIC30F4012 . . . . . . . . . . . . . . . . . . . . 1.2.1 Timer Module . . . . . . . . . . . . . . . . . . . . . . . . . 1.2.2 Pulse Width Modulation (PWM) Module . . . . . . . . . 1.2.3 Quadrature Encoder Interface (QEI) Module . . . . . . . 1.2.4 Universal Asynchronous Receiver Transmitter (UART) Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2.5 GPIO Pins . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2.6 Analog to Digital Convertor (ADC) . . . . . . . . . . . . 1.3 Choice of sampling interval . . . . . . . . . . . . . . . . . . . . . 1.4 Parameters of PMDC motor-gear-encoder unit . . . . . . . . . . 1.5 Characteristics of the H-bridge board . . . . . . . . . . . . . . . . 1.6 Calculation of B and armature resistance . . . . . . . . . . . . . 1.7 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.7.1 Writing from PC to dsPIC . . . . . . . . . . . . . . . . . . 1.7.2 Reading the data from dsPIC to PC . . . . . . . . . . . . 1.8 Program listings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.8.1 main-prog.c . . . . . . . . . . . . . . . . . . . . . . . . . . 1.8.2 settings-prog.h . . . . . . . . . . . . . . . . . . . . . . . . 1.8.3 readplot.m . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.9 Schematic of the dsPIC30F4012 board . . . . . . . . . . . . . . . 3 4 4 4 6 6 7 8 8 9 9 9 13 16 18 Experiment 1: PMDC motor modeling, identification, speed control 2.1 Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2.1 To do at home . . . . . . . . . . . . . . . . . . . . . . . . . 19 19 19 19 iii 1 1 1 2 2 2

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September 10, 2013 . . . . . . . . . . . . . . . . . . . . 20 21 22 22 23 24 24 24 25 25 Experiment 2: Speed of PMDC motor tracks reference sinusoid 3.1 Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 To do at home . . . . . . . . . . . . . . . . . . . . . . . 3.2.2 To do in lab . . . . . . . . . . . . . . . . . . . . . . . . 3.3 Dead zone in the Vm versus u characteristic . . . . . . . . . . 3.4 System identification . . . . . . . . . . . . . . . . . . . . . . . 3.5 Program listings . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.1 sysid.m . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.2 simsine.m . . . . . . . . . . . . . . . . . . . . . . . . . 3.5.3 readSID.m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 27 27 27 29 31 31 32 32 34 36 2.6 2.7 4 5 6 Lab Manual . . . . . . . . . . 2.3 2.4 2.5 3 EE380 (Control Lab) IITK 2.2.2 To do in lab . . . . . . . . . . . . . . . . . . . . . Physics-based model of the DC motor unit . . . . . . . System identification . . . . . . . . . . . . . . . . . . . . Discretized version of the controller . . . . . . . . . . . 2.5.1 Conversion from transfer function to state-space 2.5.2 Discretization of the state-space equation . . . . 2.5.3 Time-domain recursion . . . . . . . . . . . . . . Simulation . . . . . . . . . . . . . . . . . . . . . . . . . . Program listings . . . . . . . . . . . . . . . . . . . . . . . 2.7.1 easysim.m . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Experiment 3: Ziegler-Nichols tuning of speed controller of PMDC motor 4.1 Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2 What is controller tuning? . . . . . . . . . . . . . . . . . . . . . . 4.3 What the two ZNT methods do . . . . . . . . . . . . . . . . . . . 4.4 First method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5 Second method . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6 A modification of the plant . . . . . . . . . . . . . . . . . . . . . 4.7 Questions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.1 To do at home . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.2 To do in lab: Second ZNT method . . . . . . . . . . . . . 39 39 39 40 40 41 42 43 43 44 Experiment 4: Control of speed using armature current 5.1 Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2 Application of this problem . . . . . . . . . . . . . . 5.3 Background . . . . . . . . . . . . . . . . . . . . . . . 5.4 Questions . . . . . . . . . . . . . . . . . . . . . . . . 5.4.1 To do at home . . . . . . . . . . . . . . . . . . 5.4.2 To do in lab . . . . . . . . . . . . . . . . . . . 5.5 Explanation for the C code related to currents . . . . 5.5.1 Reading the current through ADC . . . . . . 5.6 Systematic method to determine i versus isens . . . . 5.7 Post-experiment discussion from 2011 . . . . . . . . . . . . . . . . . . 45 45 45 46 46 46 48 50 50 50 52 Experiment 5: Control of armature current 6.1 Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2 Application of the problem . . . . . . . . . . . . . . . . . . . . . 53 53 53 iv . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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