Design and Implementation of Embedded Speed Controller on ARM for Micromanufacturing Applications

Abstract

A robust and high precision control system has been designed in MATLAB for a prototype DC motor system running at high rpm with uncertainty in plant parameters and in the presence of plant disturbances and measurement errors. The controllers have been designed using variety of approaches PID, LQG, and LSDP. Each of these design in MATLAB meet rise time, settling time and peak percent overshoot as [0.0765 s, 0.403s, 11%], [0.019s, 0.0877s, 13.2%,], [0.153s, 0.637s, 9.36%], [0.153s, 0.632s, 9.36%] for PID, LQG, LSDP-I & II respectively. Simulation designs have been further hand tuned to get better results to achieve the required specifications. The digital implementation have been done on MCB2300 KEIL boards on ARM7 (32-bit) microcontroller using difference equation methods and controller performances have been evaluated.

Rapid Prototyping Methodology of Embedded Controlacquisition System

“…In a non-OS configuration [18] it is possible to achieve fast and reliable response times in the order of 1100 µs to external event. The processor has sufficient power to perform control algorithms (such as PID, LQG, neural control, fuzzy control [19]), as well as measurement and communication tasks [20][21].…”