Transcript Project Poster - EDGE - Rochester Institute of Technology

Controls Lab Interface Improvement
Project #06508
Faculty Advisors: Dr. A. Mathew and Dr. D. Phillips
Project Objectives
This 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.
Requirements
For more information see our
website at http://edge.rit.edu
or http://www.ee.rit.edu
•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
Work Bench
Work Bench
Matlab and
Simulink
Matlab and
Simulink
Feedback Power Supply
Real Time Windows Target Toolbox
Feedback Power Supply
Real Time
Workshop
Workstation
xPC Host PC
Interface
Board
Ribbon Cable
RS-232
Banana Cables
Banana Cables
Measurement
Computing PCIDAS1602/16 PCI Card
Sponsored by the
RIT EE Department
System Interface
xPC Target
PC
Ribbon Cable
PCI Card
Interface
Board
DC Motor
Simulink
Interface
Board
xPC Target Toolbox
System Interface
Real Time
Workshop
Measurement
Computing PCI Card
33-100 DC Servo Motor
Block Diagram of
Real Time Windows
Target Design
Generated C
Code
Generated C
Code
xPC Kernel
PCI Card
Interface
Board
33-100 DC Servo Motor
Block Diagram of
xPC Target Design
Host PC
Target PC
System Block Diagram
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 for PI Controller (Results Shifted for Viewing Purposes)
2
Analog Control Board Result
1.5
Simulation Control Result
1
Tachometer Voltage [V]
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.
Digital Control MATLAB Real Time Workshop Result
0.5
0
Digital Control MATLAB xPC Target Result
-0.5
Team Members:
Michael Abbott
Neil Burkell
-1
-1.5
10
10.5
11
11.5
time [sec]
12
12.5