Motor Control

The objective of this project was demonstrate position and speed control of the rotor shaft. These demonstrations were carried out in Simulink through modelling and simulation and in software through Arduino IDE.

 Circuit Diagram

For Encoder Reading    [Image 1]
Connections were made according to the Circuit schematic and encoder was wired in quadrature mode
Arduino was connected to PC using USB cable
Using encoder block in Simulink data was retrieved from encoder. Digital pins 2 and 3 of Arduino were used to get the encoder data.
For Rotor displacement, a gain block was added between encoder and display to convert the encoder data to degrees (Gain block = 360/8256)
To show for different PWM duty cycles, motor position grows faster in time [Image 2]
From the speed curve time constant was found to be  ~ 0.75 secs and DC gain was 19.8

Position Control

Position Simulation

Results achieved good tracking and using motor curve time constant and the DC gain of the transfer function was evaluated as 0.75 and 19.8 respectively

Speed Control System