DC Motor Control To maintain constant speed Even after Motor Power - - PowerPoint PPT Presentation

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Apr 18, 2023 452 likes •557 views

DC Motor Control PWM Cog DC Motor Control Input Cog Desired Speed Position Destination Count Cog Quadrature Encoder Speed Cog Proportional w Inertia DC Motor Control To maintain constant speed Even after Motor Power is re- Motor

SLIDE 1

DC Motor Control

PWM Cog Position Cog Speed Cog

Input

Desired Speed Destination Count

Control Cog

Quadrature Encoder DC Motor

SLIDE 2

Proportional w Inertia

DC Motor Control

To maintain constant speed

Motor Power Power To Motor Motor Speed (Load) Even after Motor Power is re- duced the motor continues to spin past desired speed. Motor Power

SLIDE 3

Proportioal DC Motor Control

To maintain constant speed

PWM Cog

Speed Cog

Measures Rate Of Pulses ie Speed Input

Desired Speed

Control Cog

Calculates Error

f Speed

Quadrature Encoder DC Motor

Gain

SLIDE 4

Proportioal DC Motor Control

To maintain constant speed

Speed as measured by encoder

SLIDE 5

Proportional Derivative

DC Motor Control

To maintain constant speed

PWM Cog

Speed Cog

Measures Rate Of Pulses ie Speed Input

Desired Speed

Quadrature Encoder DC Motor

Gain Sum

Control Cog

Calculates Error

f Speed

Error

Derivative

Subtract this error from last

Gain

SLIDE 6

Proportional Derivative

DC Motor Control

To maintain constant speed

Desired Speed

SLIDE 7

Proportional Intergral Derivative (PID)

DC Motor Control

To maintain constant speed

PWM Cog

Speed Cog

Measures Rate Of Pulses ie Speed Input

Desired Speed

Quadrature Encoder DC Motor

Gain Sum Gain

Intergral

Sum last 100 errors

Control Cog

Calculates Error

f Speed

Error

Derivative

Subtract this error from last

Gain

SLIDE 8

Proportional Integral Derivative (PID)

DC Motor Control

To maintain constant speed

Desired speed Proportional Integral Derivative Control Can produce a Critically Damped system

SLIDE 9