This paper describes the development process of a permanent magnetic direct current (PMDC) motor prototype in details. The designed prototype is used for speed control purposes. The developed model is intended to have two types of inputs: one is analog input which accepts variable direct voltage for system identification purpose, and the other is the pulse width modulation input, which can be used to interface with the outside world such as microcontrollers or programmable logic controllers. A microprocessor (with 8 bit resolution and a high performance RISC CPU) acts as a core of the module as it accepts the inputs and accordingly provides the output. An IR sensor acts as feedback sensor and provides pulses to the microprocessor which performs frequency to voltage (F/V) converting function and gives a variable output direct voltage as the speed of the motor varies. The actuator is a permanent magnetic direct current motor driven using metal oxide semiconductor field effect transistor based driving circuit. A four stages magnetic load mechanism is attached to the motor shaft. For test experiment, an ARDUINO MEGA MATLAB SIMULINK support packagebased module is developed to provide the inputs and measure the outputs, then open loop test, system identification and PI controller design are carried out and satisfying results are obtained. Illustrating the detailed procedure and the step by step work of the design process of the PMDC motor prototype is the main contribution of current work.
This paper objective is to analyze individual systems performance indices of a developed synchronization control for biaxial system speed control/speed synchronization by using two strategies (cross-coupling technique and master-slave technique) with two permanent magnet direct current (PMDC) motors. Two prototypes of the previously developed microprocessor-based PMDC motor are used. The control algorithms are implemented using ARDUINO Mega board after installing MATLAB supporting package for it. First, the system identification procedure is carried out using a pseudorandom binary sequence test and the transfer function is derived. Then, optimal tuning of the Proportional-Integral controller is performed based on the multiple-application Simpson's 1/3 rule with the performance indices as objective functions of the tuning algorithm. After that, both cross-coupling and master-slave speed synchronization algorithms are implemented. Finally, a comparison is made for their performance indices. The integral absolute error, integral square error, integral time absolute error and integral time square error performance indices are used for the comparison purpose. Introducing the analysis of the performance indices values for individual systems is the main contribution of this paper. Larger values of the performance indices resulted in master-slave strategy on slave PMDC motor due to the time delay needed for this motor to follow the master speed. Keywords System identification • Controller design • Cross-coupling strategy • Master-slave strategy • Integral of absolute error (IAE) • Integral square error (ISE) • Integral time absolute error (ITAE) • Integral time square error (ITSE) • Real-time
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