# Matrix TSL DC Motor Control Solution Manual. Page 1 of 5

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2 Contents Introduction to Motor Control - Instructor Guide 1 About this course 4 Learning objectives 5 Scheme of Work 6 1. What is PID Control 6 2. DC Motors 8 3. Matrix DC Motors Solution Flowcode Components The Programs 14 Introduction to Motor Control - Student Course What is PID Control Control system terminology PID principles PID components PID variations DC Motors Introduction to DC motors DC motor principles The underlying physics Making it rotate Slip rings Commutators Making a simple motor Multi-coil DC motors Driving DC motors Diode protection Controlling the speed of the motor Controlling the direction of rotation Using a full bridge IC Matrix DC Motors Solution Setting up the motors solution hardware Sensors board controls Flowcode Components The PWM component Configuring the PWM component Controlling motor direction The ADC potentiometer component The LCD component Ghost monitoring DSP components DSP chain 41 Page 2 of 5

3 5. The programs Speed control Speed control - Open loop control Speed control with feedback - Closing the loop Speed control - Proportional (P) control Speed control - Proportional and Integral (PI) control Speed control - Proportional, Integral and Derivative (PID) control Position control Position control - Open loop control Position control with feedback - Closing the loop Position control - Proportional (P) control Position control - Proportional and Integral (PI) control Position control - Proportional, Integral and Derivative (PID) control Further work 63 Page 3 of 5

4 About this course Aims: Matrix TSL DC Motor Control Solution Manual The course examines PID techniques used to control the speed and position of an electric motor. It does so through a series of exercises involving programs for the dspic microcontroller, using Flowcode 6. What the student will need: To complete this course the student will need the following equipment: Flowcode 6 software E-blocks including: dspic Ghost Programmer (EB091) Sensors board E-block (EB090) 2 x Dual Trim Pot Sensor Modules (EBM006) DC motor speed trainer E-block (EB096) DC servo motor trainer E-block (EB097) FET driver board E-block (EB094) LCD board E-Block (EB005) Universal power supply (HP2666) Using this course: This course presents the student with a number of tasks detailed in the following text. All the information needed m is contained in the notes. Before starting any exercise, the student should spend time familiarising him/herself with the course material so that (s)he knows where to look for help. Time: It will take around twelve hours to complete all exercises on this course. Page 4 of 5

5 Learning objectives: Matrix TSL DC Motor Control Solution Manual On completing this course the student will be able to: name the three elements of a PID control system; describe the meaning of the terms set point, feedback, error signal, rise time, settling time, steady-state error, overshoot and ringing applied to a control system; draw a labelled block diagram to illustrate the principle of PID control; distinguish between the functions of the proportional, integral and derivative elements of the PID control system; describe effects of the three elements on the behaviour of the controlled process; interpret waveforms showing the set point and feedback signals; use Fleming s Left-hand rule to establish the direction of the force acting on a current-carrying wire in a magnetic field; describe the need for a commutator in a DC motor; state an advantage for a multi-coil over a single coil DC motor; explain why a driver circuit is needed to interface a DC motor to a microcontroller; explain the need for diode protection when a DC motor is controlled by a microcontroller; describe the principles of PWM motor control and contrast it with the use of a series resistor as a means of controlling the speed of a DC motor; describe the meaning of the terms mark, space and duty cycle applied to PWM control; draw a diagram of an H bridge, using mechanical switches, to illustrate the principle of direction control of a DC motor; describe what is meant by a component and a component macro in Flowcode; configure the Flowcode PWM component to control the speed of a DC motor; configure the Flowcode ADC component to generate digital signals from the control potentiometers and sensors; configure the Flowcode LCD component to display the values of control signals; configure the dspic controller to use the Ghost functionality; use the Flowcode Scope Monitor function to display signals on the Data Scope ; describe the function of the Flowcode DSP System component; describe the purpose of the properties Buffer Count, Buffer Name, Bit Depth, Sign and Size used to configure the Flowcode DSP System component; create a Flowcode DSP Chain for a PID control system including input, control, output, PWM and LCD components; compile a given Flowcode dspic program, transfer it to the dspic on the EB091 controller board and test its performance using Ghost technology to monitor it; explain the use of an internal timer in the microcontroller to trigger events in a given macro; distinguish between an open-loop and a closed loop control system, giving examples of each; create a chart of set point vs feedback signals for a speed control system; set up and test P, PI and PID speed control systems; tune a PID speed control system to meet a given specification; create a flowchart to control the direction of rotation of the motor using a signal in the form of a single byte; set up and test P, PI and PID position control systems; tune a PID position control system to meet a given specification. Page 5 of 5

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