1. DC Motor-Clutch-Generator Control Workstation Senior Project Proposal Simon Benik and Adam Olson Senior Project Proposal Advisor: Dr. Gary Dempsey

2. Contents Project Summary 2006 Mini - Project Software Modeling Controller Conclusion

3. Project Summary Physical System Application to Real World Goals –EMAC 80515 C programming –Modeling –Controllers –Simulink/Physical System Interface

4. 2006 Mini Project Linear Model Single Motor Assembly Linear Model

5. System Functions Physical System EMAC 80515 Development Board Simulink

6. Software Goals Expand off of Mini-project Recording Data In Ram Serial Communication GUI Interface With Matlab Control Motor Velocity, Clutch and Generator Resistance

8. Mini-Project Data Taken Every 1 [ms] Display Uses Look-up Tables Keypad Interface P/PI Controller Written In Assembly Joystick to Control System

9. Recording Data In Ram Records with ‘E’ 255 data points Adjustable record time

10. Serial Communication RS232 connection DUART chip Interfaces with Matlab –Sends RPM Data –Receives Variables Real-time communication

11. Matlab 3.M Files Created for testing -Receiving Real-time Data, RAM Data, and sending Variables Provides a base for GUI

12. Matlab GUI

13. System Modeling and Simulink Nonlinear Friction System Models Model Validation Model GUI

14. Nonlinear Frictions Static Friction Coulomb Friction Viscous Friction All Frictions Combined

15. DC Motor Nonlinear Friction Nonlinear componentLinear component

16. Simulation and Experimental Results Linear motor model simulation (poor accuracy to real system)

17. Plant Modeling (torque) (Inertia) (mechanical inductance) (friction) (velocity) (current) (capacitance) (susceptance) (conductance) (voltage)

18. Derived Plant Model

19. Nonlinear Model Validation

20. Transient and Steady State Validation

21. Hybrid Analog-Digital Controls System

22. DC Motor Simulink GUI

23. Controller Design Hybrid Control System Analysis Controller Design Practical Limitations

24. Hybrid Controls System Open-Loop System with PWM zero-order hold

25. Controller Designs Proportional controller Proportional-integral controller Nonlinearity affects PM, %OS, etc.

26. Implementation of Controllers Proportional Controller - Diff = (RPMsetval - RPMin); - number = Diff * kp; - number = number + 461; Proportional-integral Controller - Diff = (RPMsetval - RPMin); -number = Diff * ki; -number = number + lastRPM; -lastRPM = number;

27. Proportional Controller

28. Proportional-integral Controller

29. Conclusions Software Design Problems in Code Next Years Mini-Project Accomplishments and Future Work

30. Conclusions Software Design EMAC Code –1,200 lines of assembly –150 lines of C Matlab Code –250 lines Matlab (GUI) Code –100 lines

31. Conclusions Problems In Code LCD Update Highest Bit for Serial Communication Sending 0’s to MATLAB

32. Conclusions Accomplishments –Non-linear Model –Serial Communication –GUI for Both Model and Physical System Recommendation For Future Work –Sending RPM and PWM Data –More Advanced Controllers

33. Questions

34. Equipment and Tools EMAC 80515 Development Board HP 30V Power supplies Pittman DC Motors Reell EC15 Spring Clutch 5.6 Ohm, 8.7 Amp Potentiometer Matlab and Simulink Software on a PC

35. Schedule of Tasks X X X