Simulink and Matlab are used to design and implement a pole placement controller for the damped compound pendulum. Chris Peacock's page has useful tutorials on the parallel port and USB; Jan Axelson has authored several books and has references to the parallel, serial and USB ports; And of course, there's. In this work, a tool designed to work in Simulink, called DSP Builder, is studied as a development tool for FPGA-based controllers. “output” port is the control signal computed by the PID algorithm. Serial blocks to convert the range and control data into bit-streams for outputting on the. In some OFDM tutorials(for example this one in page 19, there are Serial to Parallel conversion before the IFFT and Parallel to Serial conversion after IFFT. Here in the implementation by Xilinx IP core, the core should get and output the data one by one.
• Arduino board (e.g. Uno, Mega 2560, etc.) • Breadboard • DC motor with quadrature encoder • Battery (lantern battery for example) • Diode • Transistor (MOSFET) • Jumper wires In this activity we will design and implement a speed controller for a simple DC motor.
C = pid(Kp,Ki,Kd,Tf) creates a continuous-time PID controller with proportional, integral, and derivative gains Kp, Ki, and Kd and first-order derivative filter time constant Tf. If all of Kp, Ki, Kd, and Tf are real, then the resulting C is a pid controller object.
In particular, we will choose and tune the gains of a PI controller based on the effect of the gains on the system's closed-loop poles while accounting for the inherent uncertainty in our model. We will design the controller to achieve a desired level of transient response and will examine in detail the steady-state error produced by the resulting closed-loop system, including in the presence of a constant disturbance.
More details regarding other approaches to motor speed control and alternative control design techniques can be found from the of these tutorials. The motor's angular speed is estimated employing a quadrature encoder. The encoder pulses are counted on the Arduino board via two of the board's Digital Inputs. Fabric Metro Area Rarlab on this page.
One of the board's Digital Outputs is also employed to switch a transistor on and off, thereby connecting and disconnecting the motor to a DC voltage source. The Arduino board communicates the recorded data to Simulink for visualization and analysis. The logic for estimating the motor's speed based on encoder counts and the logic for controlling the motor's speed is implemented within Simulink.
Initially this logic is run on the host computer, but later we download all of the logic to the Arduino board. Purpose The purpose of this activity is to build intuition regarding the design and implementation of a PI controller for the speed control of a DC motor in the presence of an array of real-world complications. Specifically, we will consider how to design the controller when we have an uncertain plant model and are limited in the amount of control effort we can supply. Furthermore, we will analyze our system's performance in the presence of unwanted exogenous inputs, which in this case will be a constant disturbance. Control requirements The plant for this activity will be the same armature-controlled DC motor we explored in.
At a fundamental level, the voltage source ( V) applied to the motor's armature is its input and the rotational speed of the shaft is the output. Since in practice we are employing a Pulse-Width Modulation (PWM) approach to control, we will treat our control input as the PWM signal's duty cycle (percent of the PWM period for which the motor is 'on'). The control input to the motor will be determined via a PI control law acting on the error between the commanded and measured motor speed. In the previous activity, we generated a first-order model of the plant based on the motor's step response. In that activity, we investigated the processing needed for estimating the motor's speed, including a low-pass filter to 'smooth' the quite noisy speed estimate.