learn to implement servo drive
TRANSCRIPT
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WELCOMEDate:-
26th May-2012
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SPEED AND POSITION CONTROL USING DC MOTOR
Group-43Group-43
Guide: External Guide:-Mr.Ashok FadnisInternal Guide:-Ms.Manisha Mayavanshi
Prepared by: Alok
Shah
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In Coordination withVEDANT ENTERPRISES
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Research & Consultant Company in Instrumentation
Major Working Fields: Power Electronics & Embedded Systems
Main Products:-
Medical InstrumentsWelding MachinesBagging MachinesBatching MachinesServo SystemsAnalytical Pharmaceutical Equipments
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OBJECTIVE OF THE PROJECT
The main core of this project is to design a control system for DC motor by using Microcontroller.
This control system works on the principle of PID Controller and Pulse Width Modulation which will be able to control the DC motor speed at desired speed regardless the change of load.
This system will be also able to perform operations like start and stop on motor at desired position of load.
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SPEED
POSITION
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BLOCK DIAGRAM
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Controller-AVR ATMEGA32
LCD Display Power Supply:
MH Bridge
Forward
S1
S4
S2
S3
ENCODERMOTOR
SIMPLE ARRANGEMENT
SUDE
Control Menu
Open Loop
RPM (Speed)
Position
Direction
PWM
Hi-Lo
Counter
S2,S3
S1,S4
DUTY CYCLE
DIRECTION
KEYPAD
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LCD & KEYPAD:Keypad: 4*1, LCD: 16*2LCD to display i/p ,o/p & Appropriate MessagesKeypad to take i/p from User
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KEY NO. OPERATIONB1 Start/StopB2 Increment (Up)B3 Decrement (Down)B4 Esc
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MICROCONTROLLER:Software Module of ProjectWe use… AVR ATMEGA32Specially Designed InstructionsPWM Generation ModesNormal ModeCTC ModePhase Correct PWM ModeFast PWM Mode
Programmed for Four Separate Controls (Programming Scenario: PID Algorithm)
TECHNICAL SPECIFICATIONS OFAVR-ATMEGA32
Core Size 8 bit
Speed Up to 8MHz
Program Memory (Flash) 32Kbytes
Voltage Supply 2.7V ~ 5.5V
Oscillator Internal (8MHz)
Operating Temperature -40°C ~ 105°C
Package 40-SOIC
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FLOW CHART: RPM CONTROL
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FLOW CHART: POSITION CONTROL
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FLOW CHART:OPEN LOOP CONTROL
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FLOW CHART:DIRECTION CONTROL
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MOTOR DRIVER: Main Switching Module (Made of two Parts)
1) Power Circuit:- Require to generate 24Vdc
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Main Supply
Step-down Transformer
Bridge Rectifier
FilterTo Control
Circuit
Require to generate 5Vdc
Main Supply
Step-down Transformer
Diode Bridge & Filter
Voltage Regulator (LM-7805)
To µC & Optocoupler
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POWER SUPPLY SCHEMATIC
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2) Control Circuit:- Require to control the motor..
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Optocoupler-1 (6N137)
Power MOSFET (IRFZ46N)
DPDT Relay (2C/O MCC 24D)
From Microcontroller
To Motor
Optocoupler-2 (6N137)
NPN Transistor (BC547)
Duty Cycle Control
Direction Control
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NC1 NC2 NC3 NC4 OPERATION
1 0 0 1 Motor moves right
0 1 1 0 Motor moves Left
0 0 0 0 Motor free runs
0 1 0 1 Motor breaks
1 0 1 0 Motor breaks
H-BRIDGE CONFIGURATION
Formed usingDPDT Relay
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CONTROL CIRCUITSCHEMATIC DIAGRAM
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DC MOTOR:-Permanent Magnate Type Advantages:
Low initial costEasy to Control Speed
Disadvantages:High maintenanceLow torque generation
Speed Control Using PWMPulse Width increases=Speed increasesPulse Width decrease=Speed decreases
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TECHNICAL SPECIFICATIONS OFPMDC MOTOR
Supply Voltage 24Vdc
Power 50W
Current 2A
RPM 3200
Outer Dia. 60mm
Length 100mm
Shaft Dia. 8mm
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DIGITAL FEEDBCK MECHANISM:-To form the Close loop for Position ControlWe use… Incremental EncoderOne Rotation=One PulseOne Revolution=512 PulsesGenerate Quadrature Pulses with 90° Shifting
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TECHNICAL SPECIFICATIONS OF ENCODER
Supply Voltage 4.5V ~ 5.5V
PPR 512
Ref. Voltage 2.48V
Output Voltage 4.5V ~ 5.5V
Supply Current 65mA ~ 91mA
Ambient Temperature 24°C
Body Dia. 50mm
Shaft Dia. 6mm
No. of Output 2 (AB)
How µC-Count(Position) is trigger??
FROM TO FROM TO
0,1 1,1 0,1 0,0
1,1 1,0 1,1 1,0
1,0 0,0 1,0 1,1
0,0 0,1 0,0 1,0
Forward=Count Up Reverse=Count Down
H
L
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MECHANICAL SYSTEM
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PROJECT HARDWARE
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POWER SUPPLY SIMULATIONIn
put
230V
AC
Acr
oss
Cap
acito
rO
utpu
t24
VD
C
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At
50%
Dut
y C
ycle
SIMULATION OF PWM PULSESA
t <
50%
Dut
y C
ycle
At
>50
%D
uty
Cyc
le
Time
0s 2ms 4ms 6ms 8ms 10ms 12ms 14ms 16msV(Q3:c,Q6:c)
-10V
0V
10V
20V
Time
0s 2ms 4ms 6ms 8ms 10ms 12ms 14ms 16msV(Q3:c,Q6:c)
-10V
0V
10V
20V
Time
0s 2ms 4ms 6ms 8ms 10ms 12ms 14ms 16msV(Q3:c,Q6:c)
-10V
0V
10V
20V
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OSCILLOSCOPE OUTPUTA
t <
50%
Du
ty C
ycle
At
>50
%D
uty
Cyc
leA
t 50
%D
uty
Cyc
le
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RESPONSE CURVE: Duty Cycle RPM
RPM
Duty Cycle
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RESPONSE CURVE: SPEED CONTROL
At No Load Condition
At Minor Load Condition
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IndustrialRobotics Consumer Miltry
Used in any AUTOMATION APPLICATIONS ....................
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APPLICATIONS
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Same circuit can be used for stepper motor control..GSM Module can be used to make the control possible with
mobile messages..This system can be used in industrial controlling drives because of
its improved accuracy and fast dynamic response just by modifying following issues:-
Feedback Measurement (Encoder) Control Algorithm (Microcontroller) Switching Module (Motor Driver Circuit)
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FUTURE EXPANSION
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CONCLUSION
The direction (forward/reverse) of the motor is also controlled.
Control and operation of drive is flexible due to the user friendly menu, keyboard and LCD display.
The speed of the motor is controlled accurately using microcontroller ATmega32 having PID algorithm.
In the condition of the load variation the speed of the motor is maintained constant with the designed algorithm.
Position is controlled accurately using PID algorithm and feedback pulses from the encoder in order to develop a precise system.
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THANK YOU
ANY QUESTIONS??
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