controls lab interface improvement project #06508faculty advisors: dr. a. mathew and dr. d. phillips...
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Controls Lab Interface ImprovementProject #06508Faculty Advisors: Dr. A. Mathew and Dr. D. Phillips
Project ObjectivesThis work focused on the improvement of the current laboratory setup used in the Control Systems Design course taught in the Electrical Engineering Department at the Rochester Institute of Technology. A new digital interface was designed to interface Simulink within MATLAB to the servo DC motor used in the lab. Two different software toolboxes were used and compared to generate code from a Simulink block diagram for a data acquisition card to act as the digital controller. The results from testing show that the digital control interface was successfully designed and built with both toolboxes.
Team Members:Michael AbbottNeil Burkell
Workstation
Ribbon Cable
Ban
an
a C
ab
les
Work Bench
System Interface
Matlab and Simulink
Feedback Power Supply
33-100 DC Servo Motor
Interface Board
Measurement Computing PCI-
DAS1602/16 PCI Card
Block Diagram of Real Time Windows Target Design
Sponsored by the RIT EE Department
For more information see ourwebsite at http://edge.rit.eduor http://www.ee.rit.edu
Requirements
•Implement interface using existing Control Systems lab equipment•Use Simulink within MATLAB to control the DC motor•Interface must acquire position and velocity data of the motor•Verify digital interface results match those from current lab equipment•Design for extra inputs/outputs than required for a robust design•Easy for user to change the sampling time of the system from 300 ms to 1 ms
Project Design
Our design used two software solutions in order to meet our requirements. The xPC and Real Time Windows Target Toolboxes within MATLAB Real Time Workshop were used in order to control the servo DC motor. A PCI card (PCI-DAS1602/16) DAQ from Measurement Computing was used in order to interface the motor with the Simulink control algorithm. The servo DC motor board was examined and signals were traced in order to understand their purpose on the motor board. A printed circuit board was designed in order to provide the necessary connections between the PCI card and the servo DC motor. After the experiment has been run, the data from the motor is available on the host PC to be analyzed by the lab user.
Testing and Data Analysis
After the preliminary design of the interface, a mathematical model of the motor was created in order to simulate the interface. With these simulation results, velocity and position results from the digital interface were compared to simulation as well as results from servo DC motor control with the analog control board. Four different control algorithms were used to test the design as well as an implementation of a Fuzzy controller in order to control the servo DC motor.
Project Results
Results of the design testing showed similar results between the two design interfaces. The transient data of each interface design compared very well to simulation and current laboratory results. The xPC Target design showed better performance at high sampling rates as expected. For the scope of the undergraduate Control Systems Design course, the Real Time Windows Target Design meets all necessary requirements. Control of more complex systems would require the use of the xPC Target Design.
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time [sec]
Tac
hom
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Vol
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Results for PI Controller (Results Shifted for Viewing Purposes)
Analog Control Board Result
Simulation Control Result
Digital Control MATLAB Real Time Workshop Result
Digital Control MATLAB xPC Target Result
Block Diagram ofxPC Target Design
xPC Host PC
RS-232
Ribbon Cable
Ba
na
na
Ca
ble
s
Work Bench
System Interface
Matlab and Simulink
Feedback Power Supply
33-100 DC Servo Motor
Interface Board
xPC Target PC
Measurement Computing PCI Card
System Block Diagram
Real TimeWorkshop
Simulink
Generated CCode
Real TimeWorkshop
DC Motor
PCI CardGenerated C
Code
xPC Kernel PCI Card
Host PC
Real Time Windows Target Toolbox
xPC Target Toolbox
InterfaceBoard
InterfaceBoard
Target PC