Synchronization control of DC motors through adaptive disturbance cancellation

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Colleen Holly Gilbert
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University of Rome Tor Vergata Department of Industrial Engineering Bachelor's Degree in Engineering Sciences Synchronization control of DC motors

1 University of Rome Tor Vergata Department of Industrial Engineering Bachelor's Degree in Engineering Sciences Synchronization control of DC motors through adaptive disturbance cancellation -Implementation issuescandidate: C. Valentini Supervisor: C.M. Verrelli Thesis Advisor: M. Tiberti July, the 26th, 2016

2 A brief abstract... A different interpretation of a mater/slave controller Description of the implementation of the algorithm Presentation of the experimental results 1

3 The model of the DC motor 2

4 The model of the DC motor The current control input... 2

5 The model of the DC motor The current control input... Stabilizing action Reconstruction action 2

6 The control signal in the Laplace domain... 3

7 The control signal in the Laplace domain... Block diagram of the controller 3

8 The control signal in the Laplace domain... Block diagram of the controller 3

9 The control signal in the Laplace domain... Block diagram of the controller 3

10 The control signal in the Laplace domain... Block diagram of the controller 3

11 Stabilizing action: a PD-like interpretation... 4

12 Stabilizing action: a PD-like interpretation... 4

13 Stabilizing action: a PD-like interpretation... Dynamics of the reduced order observer 4

14 From the mathematical description of the algorithm to its actual implementation 5

15 From the mathematical description of the algorithm to its actual implementation 5 4

16 NI myrio device 6

17 NI myrio device The FPGA chip 6

18 The DC motor used in the experiments 7

19 The DC motor used in the experiments HP rotary encoder GND +V in RS

20 Flow of the experiment 8

21 Flow of the experiment 8

22 Flow of the experiment 8

23 Flow of the experiment 8

24 Flow of the experiment 8

25 Flow of the experiment 8

26 Flow of the experiment 8

27 Experimental set-up 9

28 Main LabVIEW program loaded on the controller 10

29 Main LabVIEW program loaded on the controller Control subsystems: Subsystem for the conversion of the reference signal, from Volts to radiants 10

30 Main LabVIEW program loaded on the controller Control subsystems: Subsystem for the conversion of the reference signal, from Volts to radiants Subsystem for the acquisition of the encoder steps and their conversion to an angle (in radiants) 10

31 Main LabVIEW program loaded on the controller Control subsystems: Subsystem for the conversion of the reference signal, from Volts to radiants Subsystem for the acquisition of the encoder steps and their conversion to an angle (in radiants) Subsystem implementing the whole controller 10

32 Main LabVIEW program loaded on the controller Control subsystems: Subsystem for the conversion of the reference signal, from Volts to radiants Subsystem for the acquisition of the encoder steps and their conversion to an angle (in radiants) Subsystem implementing the whole controller Subsystem containing the PI control block generating the voltage input for the power amplifier 10

33 An exploded overview of the program modules Control subsystems: Subsystem for the conversion of the reference signal, from Volts to radiants Subsystem for the acquisition of the encoder steps and their conversion to an angle (in radiants) Subsystem implementing the whole controller Subsystem containing the PI control block generating the voltage input for the power amplifier 11

34 Computation of the parameters through trial and error method PD-like control block (the position tracking) 12

35 Computation of the parameters through trial and error method PD-like control block (the position tracking) PI control block (the current feedback) 12

36 Computation of the parameters through trial and error method PD-like control block (the position tracking) PI control block (the current feedback) Frequency observer 12

37 Computation of the parameters through trial and error method PD-like control block (the position tracking) PI control block (the current feedback) Frequency observer Gain of the internal model 12

38 Experimental results Position tracking (initial transient) Reference waveform (freq. = 0.25Hz) Tracking waveform Frequency reconstruction error 13

39 Experimental results Position tracking (initial transient) Reference waveform (freq. = 0.25Hz) Tracking waveform 0 Frequency reconstruction error 13

40 Experimental results Position tracking (initial transient) Reference waveform (freq. = 0.25Hz) Tracking waveform 0 Frequency reconstruction error 13

41 Experimental results Reaction to frequency changes Reference waveform (freq. = 0.25 to 0.5 to 0.35 Hz) Tracking waveform Position tracking error Frequency reconstruction error 14

42 Experimental results Reaction to frequency changes 0.02 rad 1 rad Reference waveform (freq. = 0.25 to 0.5 to 0.35 Hz) Tracking waveform Position tracking error 0 0 Frequency reconstruction error 14

43 Practical demonstration Control of an actual DC motor 15

44 Conclusions The algorithm is easily implementable The algorithm structure is flexible and it can be adapted to the control of any DC motor (with a relatively easy tuning of the parameters) The controller performance in terms of velocity of the reference signal frequency reconstruction action is satisfactory The combined action of the frequency reconstruction and the PD-like position control is an extremely efficient strategy for the removal of a sinusoidal disturbance characterized by a single frequency 16

45 Thank you for your attention!

Figure 1.1: Quanser Driving Simulator

Figure 1.1: Quanser Driving Simulator 1 INTRODUCTION The Quanser HIL Driving Simulator (QDS) is a modular and expandable LabVIEW model of a car driving on a closed track. The model is intended as a platform for the development, implementation