Getting started with the programming environment and hardware setup until the open-loop control of the DC motor which means :
Blink a LED at 5 Hz.
Two PWM signals to control the motor DC voltage through an H bridge structure using MOSFET.
Two ADC channels providing the respectively the board potentiometer position to impose a reference and the current measurement from a shunt resistor.
QEI peripheral to provide shaft position and speed
UART connection to the computer for the data analysis.
Modeling and control loop design of the DC motor.
Reminder on motor modeling will be exposed.
A basic control strategy based on state space representation will be proposed.
Note that the modeling and the control of the DC motor are supposed as prerequisites for this project and this section is a reminder only. That's why the speed control algorithm will be given and not developed here.
Simulation of the DC motor
A control strategy for the speed control of the DC motor is proposed. The simulation file is implemented using double data types variables and variable-step solver to simulate and ideal continuous DC motor closed loop control.
Degradation of the control to adapt to the real-time implementation on dsPIC. It means constant sampled control and 16-bits fixed point variables.
Comparison between the ideal and the real implementation cases.
Real-time implementation of the sampled fixed point control and comparison with the theory.
Back to modeling with the analysis of experimental results.