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Guoshing Huang, Shuocheng Lee Department of Electronic Engineering, National Chin-Yi University of Technology, 35, Lane 215, Chung-Shan Rd., Sec. 1, Taiping, Taichung, Taiwan, 41111, ROC E-mail:hgs@ncut.edu.tw Abstract
This paper presents a LabVIEW-aided PID designed controller to monitor DC motor speed and uses the software simulation of VisSim to analysis its response. First, design the drive circuit of DC motor and as the feedback signal through the photo sensor and 8051 chip modules to produce rotational speed signal, and show from SEG7 displays. To take out the analog signal through D/A converter at the same time, acquire the signal via the NI DAQ USB-6008 card. By the LabVIEW-aided PID controller, the parameters are adjusted to control the motor speed. The front panel will display the speed of DC motor on the screen. The simulation results are quite match with the theoretical prediction for the behavior of the PID controller. In this proposed paper, it demonstrates the humanized operation interface that not only can replace the traditional instrument, but also facilitate the amateur engineer's operation under the remote control and monitor. shorten, but also the designing space is more elastic extension. This paper presents to guide the motor speed control field with the various advanced computer technology and the development platform of software/hardware. Let the dynamic state response of motor have a better efficiency. This paper is to design PID controller to supervise and control the speed response of the DC motor with the virtual instrument graphic monitor software LabVIEW. To control the speed of motor and display the changes of rotational speed of motor, the better response of the system can be obtained. By the NI USB-6008 [2] data acquisition (DAQ) card scratches the data of D/A converter to transmit the signal in real time to PC to be the speed response of DC motor realtime supervision. Because the DAQ card has the capability of the data storage and calculating, analysis and A/D, D/A conversion etc., matches with the LabVIEW virtual instrument characteristic applying to detect the revolution of DC motor. This mode can substitute the traditional instruments, for instance, oscilloscope, signal generator, power supply etc. and the test operation is convenient. It is not easy to be influenced by the component ageing and the maintain managementetc., and can be as the supervision basis of the machine normal operation or not. However, National Instruments increases the productivity of engineers and scientists in developing test, control, and design systems by providing software products for a wide range of functionality. NI LabVIEW is the graphical development environment for creating flexible and scalable test, measurement, and control applications rapidly and at minimal cost. Using LabVIEW, the interface between engineers and scientists with real-world signals, analyze data for meaningful information, and share results and applications. The intuitive block diagrams in NI LabVIEW make it be easy to develop the custom design applications while taking advantage of the PC
1. Introduction
The DC motors have been popular in the industry control area for a long time, because they have many good characteristics, for example: high start torque characteristic, high response performance, easier to be linear controletc.[1]. The different control approach depends on the different performance of motors. Because the peripheral control devices are enough, there is the more extensive application in the industry control system. Therefore, the DC motor control is riper than other kinds of motors no matter in the theoretic study or in the research and development of the application technology and internet, the measurement and the control system can be achieved by PC-based today. However, the technique of instrument design also moves forward the times of virtual instrument, not only the designing time is
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for processing, display, and device connectivity [3][4][5][6]. The structure of this paper is mainly divided into the DC motor speed control system, the mathematic model of DC motor and its control theory, the software and hardware program, the computer software simulation results, actual measurement results and conclusions.
Fig. 3 The control equivalent circuit of the DC motor using the armature voltage control method where
R a : the armature resistance L a : the armature inductance i a : the armature current if : the field current
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ea
eb
From equation (7) the armature inductance is very small in practices, hence, the transfer function of DC motor speed to the input voltage can be simplified as follows,
K (s ) = m E a (s) s + 1
KT is a motor gain, R a B + KbKT
(8)
B : a damping coefficient
Because the back EMF e b is proportional to speed directly, then
e b (t) = K
b
d(t) = K b (t) dt
(1)
R aJ is the motor time constant R aB + K bK T From equation (8), the transfer function can be drawn the DC motor system block diagram which is shown in Figure 5. =
(2)
Fig. 5 Simplified block diagram of DC motor armature voltage control system
(t) = J
(t)
2
dt
+ B
d = K dt
ia (t)
(3)
Take (1), (2), and (3) into Laplace transform, respectively, the equations can be formulated as follows: (4) E a (s ) = ( R a + L a s ) I a (s ) + E b (s )
E b (s ) = K b (s )
Tm (s) = B(s) + Js(s) = K T I a (s)
(5) (6)
Fig. 4 describes the DC motor armature control system function block diagram from equations (1) to (6).
The transfer function of DC motor speed with respect to the input voltage can be written as follows, KT (s ) G (s) = = E a (s) ( L a s + R a )( Js + B) + K b K T (7)
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transient response of system become slow down. It cannot improve a steady state error of system, has not a bigger function for the system. But this phenomenon is only to limit in the first order control system. The integral controller can remove a steady state error while the step inputs, but it will be unstable if the integral gain is excessive.
The relationship between the input e(t) and output u(t) can be formulated in the following,
u ( t ) = K P e ( t ) + K I e ( t ) dt + K D
0
de ( t ) dt
(9)
(10)
The controlled plant in this paper is a DC motor. The PID DC motor speed control system block diagram is shown in Figure 7.
The closed loop transfer function of DC motor speed control system expresses as follows,
(s ) G (s) = = R (s)
2
KI K + K D S) m 1 + s S KI K 1 + (K P + + K D S) m S 1 + s (K P +
(11)
The system pattern is type1 in this case, the steady state error ess= 0 which is with respect to the step signal input. The differential controller raises a KD value while the step signal inputs, then will let the
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Fig. 12 Program block diagram of PC-based PID DC motor speed control system
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Fig.13 (a) The simulation response PID speed control in DC motor for R=1, KP =3, KI=2, KD=0.01
From above simulation response results shown as Figure 13.(a)-(e), we know when the system is joined the integral control, it can be accelerated the steady state response time. To make use of simulation results, can be verified as a result of basis with the actual measurement.
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the transient response become slower, but cannot improve a steady state error. Raising the KI can remove a margin of the steady state error. Through the experimental results, we can know that the system will produce an unstable phenomenon when KP is greater than 7, KI is greater than 8. Therefore, the best control parameters of this system are chosen as R=1, KP =5, KI=5, KD=0.01.
Fig.14 (b) The response of the DC motor speed
control for R=1, KP =3, KI=3, KD=0.1
7. Conclusions
This paper proposes to design PID controller to control the speed of DC motor using the LabVIEW software program, and display the speed of motor in real-time in order to obtain the system response of PID controller. Then assist this system to simulate with the software of VisSim. Because the DAQ card has the capabilities of data scratch and transmission, matches with the LabVIEW virtual instrument characteristic and analysis. The real-time monitor of application on the motor not only can substitute the traditional instrument but also can be as the monitor basis of the machine operating normally or not. This programming system is based on a structure of the PC, and combines the DC motor supervision needed instrument, and then replaces other hardware equipments with the cheaper and more efficient method to provide operators with the graphical interface of an easy and kind operation. Through the actual tuning KP, KI, KD gains, the responses of this system can be obtained under the different condition. After the actual control parameters transfer into VisSim for simulation, to compare the results of actual response with its theory is rather near. The development system can be set up a fundamental to supervise and control the outdoor factory from the indoor office. We can supervise and control all motors in the factory or instrument equipment indoors, and also monitor the factory operational condition from the outside. In other words, this system can monitor the motor currently, and also can join all equipments which are desired to supervise and control to perform a whole supervision system in early future.
8. References
[1]
Wang, J. B., Control of Electric Machinery. Gau Lih Book co., Ltd, Taipei Taiwan, 2001. DAQ USB-6008 User Manual., National Instruments, 1999 Shiau, T. J., J. L. Wang and S. W. Chu., Program Design of Virtual Instrument Control LabVIEW 7X. Gau Lih Book co., Ltd, Taipei Taiwan, 2004
To compare with Figure 14 (a) to (e), can be relatively obtain, if raise KP then can get a quicker transient response, and can reduce a steady state error of the system in PID controller. To raise KD, will make
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[4]
Liau, J. C., A Study of LabVIEW Aided in DC Motor Speed Monitoring System. National Taiwan Ocean University Department of Mechanical & Mechatronic Engineering, 2000. LabVIEW Basics Instruments, 1999. I Course Manual., National
Microcomputer. Knowledge and Execution Co., Ltd. Taichung, Taiwan, 2002. [9] Yang, K. C., Remote Fuzzy Control in DC Motor Speed Monitoring System. National Taiwan Ocean University Department of Mechanical & Mechatronic Engineering, 2001.
[5] [6]
Srinivasan, M. B., A. Shirkhodaie, and M. Malkani, LabVIEW program design for on-linedataacquision and dpredictive maintenance. Proceedings of the Thirtieth IEEE Souteastern Symposinm on System Theory, 1998, pp.520-524. Li, K. Y., S. S. Huang and R. C. Chen, 8051/52 Application of Microcontroller. Skinfo Book co., Ltd, Taipei Taiwan, 1998. Deng, M. F., Application of ISP Single Chip
[10] Huang, J. M., University Automatic Control, University City Books Enterprise Inc, Kaohsiung Taiwan, 2004. [11] Baek, S. M. and T. Y. Kuc., An adaptive PID learning control of DC motor, IEEE International, Volume.3, 1997, pp.2877-2882. [12] Ker, D. S., Automatic Control Simulation Analysis. Gau Lih Book co., Ltd, Taipei, Taiwan, 2004.
[7]
[8]
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