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Lecture 1: Overview of the laboratory

EE380 (Control Systems)

Ramprasad Potluri Manavaalan Gunasekaran

Associate Professor PhD student
potluri@iitk.ac.in manvaal@iitk.ac.in
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Department of Electrical Engineering II
Indian Institute of Technology Kanpur J
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July 30, 2011
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Contents
1 Aim of these control experiments 4

2 Skills to be acquired in design −→ practice 5

3 The work bench 6

4 List of experiments 7

5 Tasks common to all 6 experiments 8

6 Contents of Experiment 1 9

7 Contents of Experiment 2 10

8 Contents of Experiment 3 11
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9 Contents of Experiment 4 12 II
10 Contents of Experiment 5 13 J
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11 Contents of Experiment 6 14
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12 Block diagram of speed control scheme 15 Forward
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13 Block diagram of experimental setup 16 3/17

14 Modules of µC required for motor control 17

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Aim of these control experiments

• Reinforce paper-based and PC-based design techniques.
• Help students acquire skills in converting design into practical
system.

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Help student develop confidence to say, J
“I have practical experience with implementing control systems I
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in addition to discussing them theoretically.”
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Skills to be acquired in design −→ practice

• Ability to identify the hardware & software that are needed in a
basic control system.
• Ability to debug small errors that may show up during practical
implementation.

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These skills come only through at least a few weeks of work on J
problems, all of which may be related to one or two hardware I
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setups that are not complex, and do not look complex.
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The work bench

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Equipment on each bench (top to bottom): Function generator, J
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motor control setup, power supply, PC, programmer (PICkit 2). Back
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List of experiments
1. PMDC motor modeling, identification, speed control
2. Speed of PMDC motor tracks reference sinusoid
3. Ziegler-Nichols tuning of speed controller of PMDC motor
4. Speed control using feedback of current
5. Current control
6. Disturbance observer

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Tasks common to all 6 experiments

Simulation
• Perform PC-based simulation of CL system using GNU Octave.
• Perform PC-based simulation of digital control of a continuous-time system using
GNU Octave.

Realization on hardware
• Utilize the various components of an integrated development environment (IDE):
editor, compiler, linker, debugger, and programmer to program a µC.
• Program controller using C language into µC.
• Monitoring: read data into PC from µC using UART modules.
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Analysis II
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• Compare actual performance with predicted performance.
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Contents of Experiment 1
PMDC motor modeling, identification, speed control
• Develop mathematical model for PMDC motor using datasheets.
• Develop mathematical model for H-bridge – PMDC motor sys-
tem using open-loop step response.
• Design negative feedback controller using Bode plot-based loop-
shaping techniques.

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Extra skills user develops II
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• Ability to read datasheets. I
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• System identification using step response.
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Contents of Experiment 2
Speed of PMDC motor tracks reference sinusoid
• Identify the parameters of the mathematical model of H-bridge
– PMDC motor system using least squares estimation (LSE).
• Design speed controller using loop-shaping to track sinusoids.

Extra skills user develops

• System identification using LSE.
• Understanding of the effects of nonlinearities.
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Questions J
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• Where is problem of tracking sinusoids encountered in practice? Back
• Why test if a control system can track sinuosids? Forward
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Contents of Experiment 3
Ziegler-Nichols tuning of speed controller of PMDC motor
Extra skills user develops
• One tuning technique.
• Bringing multiple different techniques from classical control the-
ory to bear on the problem of tuning: root locus, Routh-Hurwitz
criterion, Nyquist criterion.

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Contents of Experiment 4
Speed control using feedback of current
Extra skills user develops
• Estimation of speed using armature current.
• Know a way to keep loop working if encoder breaks down.

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Contents of Experiment 5
Current control
See slides on Experiment 5.

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Contents of Experiment 6
Disturbance observer
See slides on Experiment 6.

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Block diagram of speed control scheme

ωref + e(k) u(k) DC-DC
PWM PMDC ω
Controller converter
generator motor
− (H-bridge)

Optical
Calculation QEI
quadrature
ω (k) of ω count module pulses encoder

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• Grey part of block diagram is inside µC. I
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• Red part of block diagram is outside µC.
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Block diagram of experimental setup

2
1
PWM
H-bridge Im
PC 0 GPIO
4
F chopper M
USB
0 dr ADC Is
board
PICkit2 3a
C
I ob Rs

RS232 P
sd QEI Encoder
UART

• Setup primarily meant to implement speed/position control. JJ

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• We may choose to use feedback of ω or i or both as necessary.
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• Here, i is motor current. I
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In Figure 1.6 of manual, which of Isens and Im does i represent?
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Modules of µC required for motor control

• Timer: Timer interrupts mark sampling instants.
• QEI: Counts pulses from quadrature encoder.
• ADC: Reads analog inputs from outside µC.
• PWM: Produces variable duty ratio fixed frequency rectangular
waveform.
• UART: Helps communicate with serial port of PC.

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