Control The Speed Of The DC Motor Engineering Essay

Direct ongoing ( DC ) push back is applied in a giving scope of applications peculiarly in mechanization engineering due to minimum electromotive thread ingestion. In the proposal DC labor plays an effectual function in Hardwargon exe curbion. The chief rule behind the under fetching is to utilize the cascade accommodate to run the DC repel it s one of best feedback restrainers. For gauging the secureness and the armature legitimate of the DC repulse with 24 Vs and a ds celluloid Micro leadler is programmed.The above all carrying out is done in a closed control loop topology mathematical function. confuse of Contentss1.2 Objective2. Specific Aims of the undertakingChapter 11. Introduction1.1 BackgroundBrushed DC labourDC motor metaphysical accountDigital control of District of Columbia motorAdvantages of District of Columbia with regard to rush controlAnalogue control of District of Columbia motor2.1 Dss plastic filmdsPIC30f 30102.2 MPLAB IDE3. innovation and Resea rchCascade controlCurrentloop kineticssSpeed grommet kineticss3.1 Components for commanding 24v brushed Dc motor3.1. limber anatropous carte du jour3.2.1 Generating PWM moving ridge physiques3.1.2 H-Bridge converter3.2 Softwargon techniques used in DC motorPrograming microcontroller in Flexible inverted board4. Consequences and Discussion5. Decision6. App windupixList of Figures approach pattern 1 Operation of BRUSHED DC MotorFIGURE2 General turn away diagram of pep pill cringle and veritable cringle of DC MotorFIGURE3 H-bridge convertor with incompatible electromotive blackjack VI & A VI?Chapter 11. Introduction1.1 ObjectiveThe chief mapping of the undertaking is to command the upper of the DC Motor utilizing a dsPIC30f3010 microcontroller. For that implement a separate computer hardw be to fulfill the chief map of the undertaking.1.2 Specific Aim of the undertakingIn order to accomplish the chief nucleus of the undertaking, concept Hardware for commanding the hu rrying control of DC motor. The chief hardware demands areDs PIC microcontrollerICD interface & A connection for ashes interfaceDC power leaveMOSFETCurrent demodulatorsThe above constituents are required to build a hardware called Flexible Inverted Board 4 .1.3 OUTLINE OF PROJECTStep1In this paper a supple upside-down board is lay downed with the series of hardware constituentsStep2Then pass on the Flexible inverted board with system utilizing MPLAB IDE package with ICD-3 interface 4 .the linguistic communication used in the MPLAB package is C-language.Step3The amphetamine cringle and the circulating(prenominal) cringle are the dickens of im manner maps for commanding the fastness of the Dc motor. In our undertaking the cardinal raze is to command both the cringles by C- program linguistic communication utilizing MPLAB ICD-3.The velocity cringle of the microcontroller is called velocity controller and the modern cringle of the microcontroller is called current accou ntant.Chapter 2THEORITICAL TECHNIQUES AND THEIR REVIEWS2 Background2.1 Brushed DC MotorIn automotive industries DC motor is used widely in fuel pump control, electronic maneuvering control, engine control and galvani mouth vehicle control 6 for its cost effectual and it is used in many applications like mush and paper industries, fan pumps, imperativeness, winder motors 2 , localize contraptions, washers, driers and compressors 6 are some of the best illustrations. DC motor is one of the of im appearance hardware employed in this paper, it broods of a rotor coil and stator, and the parts are placed in a lasting magnetic field. Commutator and coppice are placed in between the rotor and stator. Positioning the coppice at a peculiar way in the rotor is classified into some classs and they are radial, trailling or taking 3 places. When the rotor rotates the commutator and C coppice interface at a evince, which produces an tremendous sum of magnetic field from the cop pice of the motor and it produces current to the armature twist of the Dc motor.FIGURE 1 Operation of BRUSHED DC Motor a 2.2 DC Motor theoretical account 8 Each motor go out hold different specification and demands. Harmonizing to motor demands and inside in foundations the theoretical account bay window be knowing. The purpose of motor theoretical account, trades with commanding the applied electromotive tweet of both velocity and current. The staple fiber theoretical account for a Dc Motor is shown be humbleFIGURE2 DC Motor theoretical accountThe above diagram is a simple RL traffic circle. RL circuit is called emulation induction circuitand a 24v DC Motor. all told these constituents combine to organize RL circuit.Now the derivation portion of the RL circuit is explained on a lower floorT ( T ) = Jtungsten is the angulate speedJ is the minute of inactivenessB is the clashT is the armature TorqueT ( T ) = ( T )is the Torque continuousis Armature currentHarmonizing to Ki rchhoff s jurisprudence( T ) ( T ) = ( T ) +and are the induction and opposition for the armature current ( Iowa )The electromotive of the motor can be determined by multiplying the back potential difference with velocityThe relationship for the electromotive powerfulness is shown below( T ) =The province theoretical account for any DC motor utilizing Iowa and tungsten ( velocity ) is reference pointed below.= +2.3 ds PIC -microchipDs PIC stands for Programmable Interface obligeler or programmable intelligent computing machine, which act as an of import controlling unit for unspoiled system. The chief header of this undertaking is to do the Ds PIC to bring forth 6PWM vibrate version. In an ideal status the thrive form from the pulsation width re radicalal can command the H-bridge convertor. It non merely serves as an interface accountants but besides plays a function of a programmable logic accountant ( PLC ) . 16,20 Ds motion picture has a depot of 16 smudge microcont roller that has dickens major maps. Firstly it can move as a package portion functioning package maps and the other is a hardware portion functioning hardware maps.The gossip preindications that are attain from the feedback service system are received by the package portion which in round utilizes the codifications that are written on the fight on C linguistic communication to analyse the input and run the hardware. Finally the package makes certainly the hardware runs based on the package maps to derive the needed end product. 18, 20 Our undertaking concentrated on working experiments that were run at lab conditions. Since a twosome of systems have certain differences from the stimulation that have been run in existent conditions compared to ideal conditions. This in bend is the working of the microcontroller.dsPIC30F 3010, 2010 4011 and 3012 are the series of cut friess that have been available in the Lab. The missive F in ds PIC30F and such bit provinces that the bit co ntains brassy shop. The ground for sing this brassy memory merchandise is because 30F has an ex-ordinary public presentation when compared to EPROM ( Effaceable Programmable Read-Only Memory ) and one cut back programmable french friess ( OTP ) . This has been a major demand for the running of this undertaking to involve the needed end product.16-bit modified Harvard architecture has been added to the CPU incorporating Ds PIC30F for using the information and upgrading the set of usher lines for running digital signal processing ( DSP ) 14 . There is a drawn-out flexible opcode field which has been installed in the CPU that has a 24 spot broad user coder memory earth and the entire turn toing velocity can travel up to 4MA-24 spot. This programming theoretical account has sixteen 16bit working registries in Ds PIC30F bit. There are two categories of debut commanding unit that have been integrated and used for executing they are integrated and used for executing 2 .2.3.1 dsPIC3 0F 3010This subdivision is just about the pegleg constellation and the constituents available in dsPIC30F3010 microcontroller. Normally the memory allotment in dsPIC30F 3010 can classified in to three classs they areSRAM in BytesEEPROM in BytesProgrammable memory in Bytes/instruction2.3.1.1 SRAMSRAM stands for inactive RAM ( Random Access Memory ) . Harmonizing to the tabular matter shown below the informations hold for inactive RAM should non transcend 1024 bytes. The memory in the map can sort in two types they areX Datas RAMY Datas RAMThe inactive RAM uses X -RAM and Y_RAM for stack out-of-door awaying informations.2.3.1.2EEPROMThe memory allotment for EEPROM is same(p) as inactive RAM. In read merely memory one of the of import types of ROM used to hive away memory is EEPROM. The chief map of this ROM is based on two parametric quantities they are endurance and keeping 2 . Endurance is to retain the informations raze after the ROM fails. Therefore the informations ca n t be deleted at any instant. Time period is required to hive away informations that is taken attention by keeping 2 .2.3.1.3Program memoryIn a peculiar plan Ds PIC30f microcontroller has a separate memory allotment for hive awaying both the reference and information. The memory ring for the plan memory is 24K.plan reference infinite anda informations reference infiniteTable 1 tabular matter for memory allotment in Ds PIC30f3010The pin constellation of dsPIC30f3010 is described belowFIGURE 3 Pin constellation of dsPIC30F 3010 2 Pin descriptions( PWM1L and PWM1H ) , ( PWM2L and PWM2H ) & A ( PWM3L and PWM3H ) 2 these are six different types PWM channel used in the pin constellation. In which distributively PWM brace generates three righteousness cycles with one risque end product ( H ) and one low end product ( L ) .INT0, INT1 & A INT2 are the discontinue buffers used in the PIC. VSS and VDD 2 are the try electromotive force and land in the PIC accountant.U1RX & A U 1TX, U1ARX & A U1ATX 2 are the series of pins used for pass oning PIC microcontroller with personal computer, in other system interface operation can be done by UART map. In that RX stands for receiving system and TX stands for sender. The above pin map plays an of import in our undertaking.Chapter 3Methodology3.1 Components for commanding 24v brushed Dc motorSince the undertaking is to the full based on difficult ware so many constituents are available and how they work in that operation.3.1.1Cascade control operation in Dc MotorThe below operation is done by utilizing Double cascaded layout, it consists of two cringles they are current accountant with current mention and velocity accountant with velocity mention 5 as shown in.FIGURE4 General block diagram of velocity cringle and current cringle of DC Motor B The current cringle is c all everywhere by the velocity cringle, in the block diagram it has the two circles home(a) circle is called interior cringle and the outer c ircle is called outer cringle since the interior circle operation is ever quicker than the outer circle. In other words interior circle public presentation is multiple of 10 dance step faster than the staying 1. The cascade control rule is chiefly used in our undertaking to keep the velocity of the motor at a changeless stagecoach and the current cringle in the cascade control is the armature current and it is otherwise called as torsion. Sometimes armature current may transcend the ricochet to avoid this severalize of affairs in cascade control, it has limiter, and the chief map of the clipper is to restrict the care fors of the armature current. For illustration To restrict the armature current to 64volt i.e. 1 ampere. So that the armature wo nt transcend those jump since the clipper is available in cascade control. The velocity accountant in the cascade control used to bring forth demand current ia* . The motor runs to get the better of the demand current determine. The d emand current apprize pull up stakes ever higher than the normal current time values. So that the velocity motor bit by bit increases.PI accountant ( recounting Integral accountant )Current accountantSpeed accountantThe above all constituents construct a cascade accountant and the map each constituent is described below3.1.1.1PI accountant ( relative and built-in accountant )In cascade accountant map assorted accountants are used for sight the velocity and control of the motor, but PI accountant is recommended as high efficient accountant because it consist to constant plus Kip and Kid. By manually tune up the addition of both Kii and Kpi entrust cut down the strong province sneak and the stability of the system will be increased. In recent study more(prenominal) than 70 % cascade accountant used PI accountant for commanding the velocity control DC Motor. In order to cut down the bulletproof province misplay in the closed cringle system, bit by bit increase the relativ e addition changeless Kp. As the addition of the Kp increases the steady province mistake in the system decreases. But the stableness of the system will non be stable. To do the system stable, built-in term Ki is introduced in the system. When both the proportional and built-in term amount each other to cut down the steady province mistake and do the system stable.the above two maps can be done at the same time in the PI accountant. The mathematical look for PI accountant is explained below.FIGURE 5 PI accountant of a closed cringle map 1 Kp-proportional additionKi-Intergral additionY- Output of the PI accountantErr-Error in the PI accountantAt the get downing mistake ( Err ) will go through and through through both Kp and Ki.For relative addition the end product is Kp Erry1= Kp Err eqn1 1 y2 = eqn 2 1 Y = y1 + y2 eqn 3 1 eqn 4 1 The cardinal point in this PI accountant is the mistake Err in intergral addition Ki will be integrated. so that the steady mistake will be reduced an d the system will be stable.3.1.1.2Current accountantThe current accountant in the closed cringle maps of the cascade control. The current cringle is besides called as current accountant. It is used to protect cascade circuit from harm. The chief map of the cascade map is to command the velocity. Before commanding the velocity the current of the accountant should be controlled. The current earned from the closed cringle map is from armature circuit of the DC Motor 7 .the input in the current accountant is the back electric potential ( ia* ) .Power convertor is chiefly used to better the control in the system. It has high exchanging frequence, since the power convertor in the current cringle is in truth speedy. The end product of the convertor is armature electromotive force ( Va ) .( -E ) is the perturbation occurred in the current cringle, in order avoid the perturbation-EIowaia*RL CIRCUITTPower ConverterPiFIGURE 6 Functional block diagram of Current accountantThe perturbation is added along with RL circuit, and the equation is shown belowVa = ( S La + Ra ) ia + eastwardThe map of the RL circuit is cut down complexnessVa is Armature electromotive force.Iowa is armature current ( seeking to command )Ra is Armature oppositionTocopherol is DisturbanceRL = 1/ ( S La + Ra )Current cringle is carried out by conveying the from Iowa ( armature current ) to ia* ( demand armature current ) . As speedy as possible without doing the over read acquiring so high. If the over adopt is high it creates vocation to the convertor. Similarly when the addition values ( Kp and Ki ) increases in PI controller the over shoot value reduces, but the same clip there is more sum of oscillation which may impact the system. Care should be taken in taking both Kp and Ki values.TIowaia**FIGURE 7 represent for armature current V subsiding clipia Armature currentia* Demand armature currentts Settling clip3.1.2 Flexible inverted boardThe major hardware has been designed and implem ented as Flexible inverted board.It consists of many constituents they are dsPIC30F3010 microcontroller, H-bridge convertor and District of Columbia motor. The maps of these hardware constituents are explained earlier. The above all operation is implemented in a individual hard ware called flexible inverted board.FIGURE 8 Functional block diagram of Flexible inverted board3.1.2.1 IR2130 access thrust circuitThere are three input signal generator blocks which are capable of provision two end products each gives the inputs to the six end product drivers. L1, L2 and L3 are signal generators which drive exactly the three low-side end product drivers although H1, H2 and H3 signal generators essential be flat shifted before it is fed to the high-side end product drivers.The drifting points of the driver, gate charge demands of the power switch and the maximal power switch ON times receives power from three bootstrap capacitances C1, C2 and C3. Bootstrap capacitances besides feed supp ly to the internal natation driver current. Once these energy demands are met there mustiness be considerable sum of charge still on the 8.3V nominal to forestall halting. D7, D8 and D9 should be super-fast.VCC degree seen by an under-voltage sensor circuit gives an input to criminalize six end products of the signal generator circuits. Current detector R1 derives the ITRIP signal in the chief power circuit of the motor when it is segregated with a 0.5 V mention to criminalize the six signal generator end products. ITRIP inputs sets up a mistake logic circuit which in bend gives unfastened run TTL end product for system gesture.FIGURE 9 Circuit diagram for IR2130 gate thrust circuit3.1.2.2Trim port map with PWMTrim port are little in size and they are really little in size.it is chiefly used in many PCB building board since it s occupies less infinite.The spare port act like a potentiometer and it is otherwise called as pruner . By tuning the spare port, opposition value can be minimise or maximized. For illustration if a 50ohm opposition can be tuned by spare port from 0 50.The two leg of H-bridge convertor produce two pulse wave form one with low end product ( 1L ) and another 1 with high end product ( 1H ) . The responsibility ratio of the PWM wave signifier can set utilizing spare port.3.1.2.3DC MOTOR ENCLOSED WITH A ENCODERThe best methods of calculateing the velocity of the DC motor is utilizing optical encoder method. It consists of a disc, Light Emitting diode ( direct ) and optical detector 6 . The disc is fitted with the rotor, as the rotor rotates the disc starts whirling along with the rotor and it is placed in between the LED beginning and the light detector. Once the rotary motion starts the disc passes through the LED beginning and the optical detector gets started, from which the velocity of the motor can be calculated because the optical detector Acts of the Apostless like a tachometer. In other words the encoder in the DC motor is otherwise called as velocity observing detectors. 6 3.1.2.4 H-Bridge convertorDC motor runs differential velocity, but the applied electromotive force of the motor varies at every interval of clip. Since the electromotive force is straight relative velocity, as the electromotive force increases the velocity of the motor besides increases. Speed can be calculated by tachometer which is in physique in the DC motors, the applied electromotive force can be supplied and controlled by a convertor called h-bridge convertor.SomanGD Gate Drive CircuitFIGURE 10 H-bridge convertor with different electromotive force VI & A VI? c In this H-bridge circuit it produces two unipolar pulsation breadth conversions because it has two leg inverter. Effective transformation takes topographic point merely in the first half of the inverter. As a consequence two varying electromotive forces are generated on either side of the armature twist.In H-bridge, transition magnate is represented as ( +mi ) a nd the reciprocal of transition index is represent as ( -mi ) .the motor in our undertaking really sing two pulse breadth. Both the pulsations are reciprocally relative to each other bring forthing a unipolar PWM.The two legs in the convertor are called the shift signals or exchanging frequence. Bigger convertor comparatively has lower frequence and smaller convertor has higher frequence. If the frequence in the leg1 is high in stock the frequence in the leg2 will be low.In our undertaking see VI and VI? are the exchanging channels of the H- span convertor. they are reciprocally relative to each other.The bearer signal is called the input frequence. the bearer frequence used in our undertaking is 10khz. Harmonizing to the bearer frequence the clip period of VI and VI? differs.In C coding VI and VI? is mentioned as PDC1and PDC2 from the below graphFIGURE 11 graphic representation of PWM signals in H- Bridge convertor.The end product electromotive force of the h-bridge convertor can be obtained both negative and positive electromotive force distribution 1 . Pulse width transition in the h-bridge convertor helps to command the armature circuit of the DC motor 1 . Maximal armature current ( torsion ) can be obtained by comparability clip invariable of both field twist and the armature weaving 1 . Since the motor is connected straight to the field twists supply electromotive force in the field twist is more when compared with the armature weaving. To keep equal clip invariable in both field and armature weaving 1 , the applied electromotive force in the armature twist should be increased, as the armature current increases the torsion end product is maximized 1 .3.1.3 Generating PWM moving ridge signifiersAs the torsion end product gets maximized, pulse breadth transition is introduced in the H-bridge system to avoid the perturbation in the armature current.it can be done by increasing the frequence degree of the H-bridge convertor at a higher scope.As t he torsion end product gets maximized, pulse breadth transition is introduced in the H-bridge system to avoid the perturbation in the armature current.it can be done by increasing the frequence degree of the H-bridge convertor at a higher scope.FIGURE 12 Diagrammatic representation of the pulsation breadth transition is shown below 6 The below specification is referred from 6 Ton Time is ON ( applied electromotive force )Toff Time OFF ( applied electromotive force )T Time period.Duty measure = .The mean electromotive force of the DC motor can be shown in an equation belowAverage = Duty cycle A- Vin 6 When the motor is running at a changeless velocity the back voltage of the motor is besides remain changeless.As the back voltage remain the same the motor running at changeless velocity and the armature current ( Ia ) is zero. PWM is one chief portion that is required for the operation of cascade control.4. parcel used to drive the Motors4.1 Programing microcontroller in Flexi ble inverted board utilizing C-languageIn the flexible inverter board PIC microcontroller plays a major place in directive the pulsation breadth transition. The Ton clip in the pulsation breadth transition ( PWM ) signal can be modulated or controlled by the microcontroller, as the microcontroller varies the clip, the speed of the motor alterations with regard to clip. The Programing linguistic communication used in microcontroller is embedded C. The scheduling codifications are downloaded in the microcontroller bit, the downloading attack can be done by a package development tool called MPLAB, this package exists in supervising the systems, this package should be foremost installed in the Personal computer, the coders will compose the codifications to modulate the PI accountant to get Applicable beginning from the current cringle of the cascade control map. Once the codifications are accepted harmonizing to the current cringle 1 , the plans can be downloaded in the microcontroll er through cosmopolitan consecutive coach or in circuit Debugger ( ICD ) ICD is a coach which interfaces Personal computer system and the flexible inverter Board. 6 In order to plan the microcontroller examine whether the hardware constituents are interfaced with the accountant. The scheduling linguistic communication used for programming the accountant is C linguistic communication. In c-language the information s are classified in to input informations and end product informations. The microcontroller direct the information in linear signal, where the C-language wo nt accept linear signals.To avoid the state of affairs ADC convertor and encoder interface are introduced in the system. ADC stands for latitude to digital convertor it converts the linear signal in to digital signals. Then the digital signals get received by the C-program as input informations. In turns c-program will direct the end product informations to the PWM unit. UART communicating system is a bidirectional so that microcontroller and Personal computer can pass on at the same time. UART stands for cosmopolitan asynchronous receiving system sender. The basic diagrammatic representation for system communicating with C-language is shown belowFIGURE 13 System communicating in C Programing Language.In C-language foremost format all the maps required for the velocity control of motor.4.1.1Current detector inputThe current in the motor spiral is one of import parametric quantity in the effectual running of the motor. So it is indispensable to mensurate the value of this current. The measuring of the current is performed by utilizing particular detectors call Hall Effect Sensors. The scope of the current is determined by the evaluation of the motor. Any over current in the motor can severely damage the motor. The Hall Effect detectors produce a electromotive force matching to the stage current. This is fed to the ADC inputs of the micro accountant where it is converted into the digital signa ls. This is so fed into the microcontroller plan. Hence the current demands to be limited within specific limits.CL1, CL2 and CL3 are the three current detectors variables used in this cryptography. The spot ratio of the ADC input is 10 so the input informations scopes from 0 to 1023. The maximal informations squinch for the current detector is 1023.so the current detector value in the C- codification is initiated asCL1 = 511 CL2 = 511 CL3 = 0 4.1.2 Encoder inputFor any velocity accountant, the existent velocity of the rotor forms the footing for the control signals. The velocity control signal can be changed merely if there is an mistake between the existent velocity of the rotor and the covet velocity of the rotor. If the measured velocity is less than the coveted velocity so the PWM pulsations are changing consequently to increase the velocity. To execute this action a balance beam encoder is used. The shaft encoder uses an opto-mechanical system to bring forth pulsations.Th ese pulsations so are used to deduce the velocity of the rotor. A mention pulsation is used as an index to number the pulsation. This information is fed to the microcontroller, which so uses a particular timing circuit that processes these encoder pulsations. The motor velocity to be accessed by the microcontroller needs to be stored in a variable within the micro accountant codification. The variable used in this plan is a variable called revolutions per minute. This variable is accessed to cipher all maps related to the motor velocity.4.1.3 Pulse Width ModulationThe MOSFET s in the circuit is used as switches. These MOSFET s are switched harmonizing to a PWM. To drive these MOSFETs a gate driver circuit is required. The gate thrust signal generates the electromotive force required for the operation of these MOSFET s. The PWM is generated by the microcontroller harmonizing to the plan and is supplied to the gate thrust circuit. The PWM signals are separate for each if the 3 legs o f the MOSFET inverter. Each of the PWM requires a transition index to bring forth the signal. These transition indexes are stored in a registry. The registries are named as PDC1, PDC2, and PDC3. These variables are really important in bring forthing the PWM signals for the MOSFET drivers. Since informations bound is 1023.4.1.4 Initializing the codification in C linguistic communicationBefore executing any map in C-language, it requires an low-level formatting. It is of import to initialising the variable of a map. Some the maps are initialized below.Init PORT ( )This map initialise the digital input and end product port or parallel input and parallel end product of the microcontroller.Init UART ( )It is one of pin in the microcontroller.The chief map of the UART is used for bidirectional communicating with Personal computer. Since UART can able to observe the transmitting velocity in informations transportation between the microcontroller and Personal computer. The maximal transmi ttal velocity is around 19200.the informations transportation wo nt transcend the bound.Init PWM ( )The input frequence of our PWM signal is 10kHz.the clip bound for the transition index is around 0-1474.in the h-bridge convertor has two legs so each leg produces a PWM signal with a maximal clip bound of 0-737. Hence the Ton clip of PWM signal will be in 11 responsibility ratio.Init ADC ( )It is used to change over the parallel signals in to digital signals. In the microcontroller there are five pins reserved for the ADC inputs. During the informations transmittal ADC maps plays a of import function in disrupting the signal. An low-level formatting is required for the interrupt to execute any map in C- linguistic communication.Init CAPTURE ( )The gaining control map is chiefly used to mensurate the frequence and clip period of the PWM wave signifier generated from the two legs J30 and J31 pins of the H-bridge convertorInitTimer3 ( ) and InitTimer1 ( )To put initial clip in the micro controller for the gaining control map and timer 1 set the starting clip for the interrupt map happened in the UART communicating system.InterruptsInterrupts are occurred merely during the informations transportation, when the transmittal velocity that is the baud rate rate is known means the interrupts can be added to the system easily.in our undertaking the baud rate is 19200.the chief map of the interrupt is used synchronize clip period of PWM with the velocity cringle and the current cringle of the motor. In our undertaking tetrad different type of interrupt service modus operandi are used.They are ISR_ADCInterput ( )This interrupt is triggered when the ADC finishes its transition and hence its get synchronized to the microcontroller PWM clip base. From this all the application control codification to be implemented in this interrupts service modus operandi.ISR_T1Interput ( )The assorted information to the Personal computer is transferred by utilizing the UART communicating ne xus in this interrupts service modus operandi. All the variables that are needed to be mentioned in this insouciant utilizing standard C map dash ( ) .ISR_U1RXInterput ( )Assorted information is transferred from the Personal computer in to the C plan. This everyday concedes us to modulate the facets of the plan when it is running.ISR_IC1Interput ( )It measures the velocity value from clocking informations that are attained in the input gaining control faculty.FIGURE 14 The connexion diagram for the velocity control of Dc motor is shown aboveChapter 55 Consequences and treatmentAs discussed earlier the assorted maps of hardware constituents in this undertaking, this subdivision discusses the inside informations sing how the undertaking deals with comparing and measuring the consequences. Undertaking has a series of stairss each measure is assigned with different operation techniques to put to death the concluding consequences.5.1 Initial connexion tribulation between MPLAB IDE and Flexible inverted BoardInitially the system needs to be interfaced utilizing the flexible inverter board. This operation is performed by linking the Personal computer to the flexible upside-down board. To link the Personal computer to the flexible upside-down board, ICD 3 interface port is used to finish the connexion. Since the informations transmittal velocity in ICD 3 is high when compared with ICD 2, the power supply to the inverted board is supplied through the Dc power supply generator. The Initial conditions were set to the power supply generator where the electromotive force bound and current bound is zero. For the Dc motor maximal electromotive force supply is 24voltage in VDC and a current of 0.5 ampere is set in the power supply generator which is so connected to the inverter board. Once the initial conditions are set, the power generator is fitted with a path button which needs to be held and at the same time the end product button needs to be pressed. Once the end prod uct button is turned ON, the power is applied to the inverted board. On the other manus MPLAB IDE package is opened in the system, where a cutting file demands to be created so the needed compiler for this undertaking needs to be selected. Once these scenes are done the debugger option in the MPLAB ICD 3 is chosen, the package will initialise the tool and a verification message was displayed on the hiding which says ICD 3 is connected . The codifications for this were designed in the MPLAB package and burnt in the Ds PIC microcontroller by ICD 3 interface.5.2 saloon 3, 4 & A 5One of the ADC input pin in the PIC microcontroller demands to be initialize as ADCBUF0. The maximal input scope of ADC interrupt is 1023 since ADC input is initialized as IN1.When IN1 is initialized as ADCBUF0 in C-language it can be written asIN1 = ADCBUF0 PDC1 = IN1 IFS0bits.ADIF = 0 Here IN1 is the informations value for the spare port in the flexible upside-down board. The maximal IN1 value is 1023. As mentioned earlier PDC1 is initialized as one leg portion H-bridge convertor, where PDC1 is 1474 and a unipolar pulsation breadth transition was generated. If IFS0bits.ADIF is zero, it means that the chief used to initialise ADIF value is 0 in other words it is the default value.PDC1 = 2*IN1 Similarly in measure 4 multiply the spare port input value with 2. Then the PDC1 input scope will transcend so if statements are used to restrict the value of PDC1 from 0 to 1474.To restrict the values of PDC1 the codification in C-language can be implemented as PDC1 = 2*IN1 If ( PDC1 & gt 1474 )PDC1= 1474 5.3 Step6 & A 7The flexible upside-down board consists of a gate triggered circuit in other words they are known as MOSFETS. Wholly 6 MOSFETS are available in the flexible upside-down board. In our undertaking two MOSFET are used and both of them are connected to the legs of the H-bridge convertor. The MOSFETS that are connected to H-bridge convertor are U10 and U13 & As U11 and U14 . To supervise and look into if the MOSFETS are triping the pulsation or non it can be done by analyzing the trial points available in the flexible upside-down board. This is done utilizing the CRO where the trial points are connected via investigations as a consequence triping pulsation is produced. The diagrammatic representation of Square wave signifier is shown below.FIGURE 15The above diagram represents the general pulsation wave formDepending on the transition index value produced by the ADC input the responsibility ratio of the pulse fit transition varies consequently. In other words the transition index is straight relative to the responsibility ratio. victimization appropriate C plan the ensuing wave form from the three different responsibility ratios was discovered to be in the square form. When the CRO is connected to the trial point J30, three different per centums were obtained due to the different responsibility musical measures. The C codifications that were used to obtain the wave forms are mentioned belowC codification for 50 % responsibility pulsationPDC1 = MI + 737 PDC2 = MI 737 Manual computation for 50 % responsibility heartbeatSince PDC1 = 1474If PDC1/2 = 1474/2 = 737.Resulting wave form for 50 % responsibility rhythm is shown belowFIGURE 16 moving ridge from for 50 % responsibility rhythmC codification for 25 % dutycyclePDC1 = MI + 1105.5 PDC2 = MI 1105.5 Manual computation for 25 % dutycycle( PDC1 and PDC2 ) value for 50 % responsibility rhythm is 737( PDC1 and PDC2 ) value for 75 % responsibility rhythm is 368.5For 25 % responsibility rhythm add both 737 + 368.5 = 1105.5Resulting wave form for 25 % dutycycleFIGURE 17 moving ridge signifier for 25 % responsibility rhythmCode for 75 % dutycyclePDC1 = MI + 368.5 PDC2 = MI 368.5 Manual computation for 75 % responsibility rhythmFor PDC1 and PDC2 is 737Divide PDC1 and PDC2 by 2The effect for for PDC1 and PDC2 is 368.5.Resulting wave signifier for 75 % dutycycleFIGURE 18 moving ridge s ignifier for 75 % responsibility rhythm5.4 meter 7The last operation is based on linking the CRO with the trial point J30 in the flexible upside-down board, likewise the same operation is performed in another trial point J31. The triggered pulsation obtained from the MOSFETS is shown below for the different responsibility rhythm ratio as already mentioned in measure 6.Resulting wave form for 25 % responsibility rhythmFIGURE 19 Resulting wave signifier for 25 % responsibility rhythm in trial point J31Resulting wave signifier for 50 % responsibility rhythm is shown belowFIGURE 19 Resulting wave signifier for 50 % responsibility rhythm in trial point J31FIGURE 20 Resulting wave signifier for 75 % responsibility rhythmFrom above three wave signifiers each differs in their responsibility ratio. Then compare the wave form of J30 & A J31. The different is happened because of hold or mistake occurred during the informations transmittal.5.5 Measure 10In the initial status of the spare port is set as nothing. Then the responsibility rhythm of the PWM 1 is high and PWM 2 will be low.In other words PWM1 is reciprocally relative to PWM2. Similarly in the ulterior status when the spare port is turning toward the higher terminal. Now the responsibility rhythm of PWM 2 is found to be more than 95 % . The end product of the PWM is determined from the CRO. Since the value of PDC1 and PDC2 will be 1474.due to 11 responsibility ratio. The input informations values are every bit shared by both PDC1 and PDC2. In some conditions when the PDC1 = 2*IN1.the value of IN1 is 1023, and so value of PDC1 is 2046. As per the conditions mentioned earlier the value should non transcend the input informations bound 1474. Such state of affairs are handled with aid of if statements. Using if statement how the status is satisfied in C cryptographyPDC1 = 737+MI PDC2=737-MI If ( PDC1 & gt 1474 )PDC1 = 1474 If ( PDC2 & gt 1474 )PDC2=1474 This codification C2=1474-PDC1 makes the motor to revolve a t rearward way.When the above codification is compiled and kill the electric resistance value increased or decreased by manually tuning the spare port in the flexible upside-down board. Harmonizing to the opposition value in the microcontroller the amplitude and the current flow can be controlled.5.6 Measure 11Ripple current and RL LoadNow connect the RL force with the connection of the flexible upside-down board to cipher the ripple current. In the connection of the flexible inverted board has two points. They are sing as point A and point B. Ripple current can be calculated by a device called current investigation. First connect the current investigation to the point A of the connection and view the mean value of the ripple current in the CRO. The wave form for the mean ripple current value for point A is shown below.FIGURE 21 moving ridge signifier for responsibility cycle1 with 1H and duty rhythm 2 1L ( indicate A )1H risque End product1L Low End productIn this wave form th e conditions are wholly reversed when compared with the above wave form.The responsibility rhythm 1 with 1L and duty rhythm 2 with 1H ( indicate A )FIGURE 22 moving ridge signifier for responsibility cycle1 with 2L and duty rhythm 2 1H ( indicate A )Once the rippling currents are calculated in point A. the similar operation is performed by the current investigation in point B. the wave forms are shown belowFIGURE 23 wave form for responsibility cycle1 with 1H and responsibility cycle2 with 1L ( point B )FIGURE 24 wave form for responsibility cycle1 with 2L and responsibility cycle2 with 2H ( point B )5.7 Measure 12This measure deals with ciphering the beginning and derive value of ripple current through current investigation as discussed earlier. These values are chiefly used for trying the input informations s from the microcontroller.In order to cipher the beginning and addition value the values need to be identified as shown in the tabular matter below they are ADC electromotive force, current detector, PDC1 and PDC2. Initially the interface needs to be reloaded with the flexible upside-down board. The PDC1 and PDC2 value can be determined by the ticker option in MPLAB IDE package. The current detector in the flexible inverted board has a trial point J43. Then the current detector value was measured by multi metre through the trial point. For this a 24 electromotive force Dc motor the maximal current detector value gettable will be 2.57voltage. Initially set the spare port value to zero, so look into the current detector value by a multi metre where it showed 2.57. By increasing the electric resistance of the spare port the current detector and ADC electromotive force will be bit by bit decreased nevertheless at one phase the ADC electromotive force bit by bit decreases to zero. Later the ADC electromotive force value increased easy but the current detector invariably decreased as shown in the tabular matter. These values were enter in the tabular matter. Subtracted ADC electromotive force value from PDC1 value and the mean value consequence was recorded in the new column. Then the mean value for the new column is calculated.Table 2 Tabular column for ciphering beginning and addition valuesADC electromotive forceCurrent detectorPDC1PDC2PDC2 ADC electromotive forceSpot27.512.56941143313.494.4603925.432.5591431331117.5721.792.5442831191261.2120.512.5274441030423.4917.792.517546928528.210.00072.497757717756.99933.722.478960514956.284.072.46211233511118.9318.42.431431431412.65588.7793620.9754778Manual computation for the above tabular matter is shown belowOffset spot = ( PDC1 ADC electromotive force ) / entire figure values( PDC1- ADC electromotive force ) = 13.49 + 117.57 + 261.21 + 528.21 + 756.9993 + 956.28 + 1118.93 + 1412.6 = 5588.7793PDC1-ADC electromotive force = 5588.7793 full(a) figure of values = 9Average ( PDC1 ADC electromotive force ) = 5588.7793/9 = + 620.9754778.Calculate the entire ADC electromotive forceEntire ADC ele ctromotive force =27.51 + 25.43 + 21.79 + 20.51 + 17.79 + 0.0007 + 3.72 + 4.07 + 18.4 = 132.5Offset spot = + 620.9754778./ 132.5 = 4.4602 spot5.8 Measure 13In this subdivision connect 24 volt Dc motor to the flexible upside-down board. When the power supply is turned ON the motor rotates at a peculiar velocity and this velocity of the motor rotates harmonizing to the responsibility ratio produced by the H-bridge convertor. Initially test all the conditions to verify the on the job status of the motor. The motor used here is fitted with an encoder that is attached together. Since the flexible inverted board has an encoder sensor the encoder portion of the motor was connected to the encoder sensor, therefore the motor satisfies the conditions mentioned above.5.9 Measure 14In this measure, J14 pin of the flexible upside-down board is interfaced together with the system through a overseas telegram. Using Lab position package s the Tacho scope, rpm can be determined.PDC1, PDC2 and their corresponding responsibility rhythm per centum are viewed.Like this similar operationTable 3 Tabular column for ciphering electromotive force Vs velocityTachoVdcRevolutions per minutePDC1PDC2Duty 1 %Duty 2 %1-18.11776150132489.211.22-14.51416270120481.119.93-10.711047388108773.327.14-7.4672748299266.535.55-3.42334596878584260957147605049.671.6916582664845.654.485.553894153238.262.299.33919104942329.870.11012.91265115532022.372.91116.11578125621915.585.51219.61919137497992RPM = KTo cipher the value of the KK = Vdc12 Vdc1/RPM12 RPM1K = 19.6-18.1/1919 1776K = 0.0104As per the demands from the tabular matter secret plan the graph for Vdc ( electromotive force ) V RPMThe graph representation is shown belowFIGURE 25 Voltage Vs Speed5.10 Measure 155.10.1Current cringleOnce the mean value of the ripple current and the beginning values are calculated, to command the velocity of the motor, foremost the applied electromotive force of the motor should be controlled. Interestingly the applie d electromotive force can be determined from the current cringle of the relative and underlying accountant in other words as PI accountant. Since the operation of PI accountant is explained before itself. In the PI accountant current plays the interior cringle, and it is 10 times faster than the outer cringle. So the interior cringle is executed foremost. A measure input given to the PI accountant. The consequence anticipate from the end product of the PI accountant as a measure end product with extremum over shoot.This extremum over shoot increases the steady province mistake besides increases. In bends steady province mistake produces a electromotive force bead in the motor. So the velocity of the motor bit by bit decreases. This state of affairs can be overcome by seting the addition of both relative and built-in. The maximal extremum over shoot degree is 7.5 % . If the degree exceeds, the end product of the current cringle is non in a stable status. If the system is non stable , it is hard to command the velocity of the motor. the graphical representation of the pass judgment current cringle is shown below.FIGURE 26 measure response end product for current cringleIn the above measure response the ia* and Iowa are the demand current and the armature current.Since the current detector value 1023.Two current detectors are used.They CL1 and CL2The armature current Iowa = 511Demand current ia* = 511Tocopherol is the mistakeE = demand current armature currentE = ia* IowaE = 511 511 = 0 Harmonizing to the computation shown above.The codification is compiled in C-language for the current cringle.In the cryptographyFirst get the addition values of the PI accountant as kpi and kii.int kpi, kii kpi=10 kii=0 Then initialise the mistake, armature current and demand current as i_error, Iowa and ia_demandint Iowa, ia_demand, i_error Iowa = CL1 ( initialise current detector 1 as armature current of the motor )CL1 = 511 ( initialise the value of current detector 1 as 511 )ia_demand = 511 ( demand armature current )i_error = ia_demand CL1 ( Error in the armature current can be determined by deducting the armature currenr ( Iowa ) from the demand armature current ( ia* ) . The expect mistake should be zero. when the above codification is executed in MPLAB package. In the get downing the mistake is non zero. Some clip the current detector value differs. As per the codification the expected CL1 value should 511.In this status, a new set of codification is implemented. In this codification, if statements are used for the CL1 value. Then the current detector value will be within the scope.if ( 510 & lt CL1 & A & A CL1 & lt 517 ) the value CL1 ranges from ( 511 to 517 )The manual tuning of kpi and kii alterations CL1 from 511 to some other value.As a consequence mistake occurs in the extremum over shoot.For illustration if CL1 is 514, which is displayed on the ticker of MPLABSince the expected CL1 is 511 but CL1 is 514The mistake difference b etween the expected and the present value is 3.The avoid the mistake difference in CL1 a simple codification is designed belowCL1 = CL1 -3 ( if CL1 is 514, 514 3 is 511 ) .The mistake is zero but the extremum over shoot is still high. This is due built-in air current up map because the built-in added with kii in PI accountant. To avoid this mistake separate codification is executed in C cryptography.The variable zi is initialized as built-in collector and its value is 737.if ( zi & gt 737 )zi=737 if ( zi & lt -737 )zi=-737 the above codification keeps the zi value within the scope.Since i_error = 511zi = 737 + 511zi = zi+i_error ( anti air current up codification added with an mistake )In order to avoid the built-in mistake multiply built-in collector with built-in addition ( kii ) .kii * zi ( eqn 1 )Multiply the mistake with the addition of proportional.kpi * i_error ( eqn 2 )add both the eqn to acquire the concentrated transition index. This map will cut down the steady provi nce mistake and extremum over shoot.myocardial infarction = ( kpi*i_error ) + ( kii*zi ) From this codification the expected extremum over shoot is obtained with zero steady province mistake.The expected current cringle moving ridge signifier implemented from the codification is shown belowIn this moving ridge signifier over shoot is high.To cut down the over shoot and stead province mistake manually tune the kpi and kii value.Manual tuning is like a loop method to acquire a peculiar solution after many comparings take topographic point between kpi and kii values. The expected end product is non yet determined. So the expected end product is still under procedure.Mention 1 D.J.Atkinson, Control of Electric thrusts, EEE 8014 talk notes, School of electrical, electronic and Computer technology, Newcastle University,2011. c 2 R.Roberge, carbon copy coppice public presentation and application in the mush and paper environment , National Electrical Carbon Products, 2001. 6 E.A. CHOON, DCmotor velocity control utilizing microcontroller pic16f877a , 2005, pp. 1-64. 3 K.Hameyer, R.J.M.Belmans, Permanent magnet excited brushed DC motors Dept. of Electrical. Engineering. Katholieke University, Vol. 43, 1996, pp. 247-255 a CONDIT, R. ( 2004 ) Brushed DC Motor Fundamentals bit Technology Inc. 5b P.Chevrel, L.Sicot, S.Siala, Switched LQ accountant for DC Motor Speed and Current Control a comparing with cascade control , 1996. 4 G.J.Atkinson, Electrical Power and Control Project, EEE8075 ( Semester 1 ) talk notes, School of electrical, electronic and Computer technology, Newcastle University, 2011. 7 M.V.Ramesh, J.Amarnath, S.Kamakshaiah, G.S.Rao, SPEED CONTROL OF BRUSHLESS DC MOTOR BY USING FUZZY LOGIC PI CONTROLLER ARPN Journal of Engineering and Applied Sciences.Vol.6, NO. 9, 2011. 8 R. K. Munje, M. R. Roda, B. E. Kushare, Speed Control of DC Motor Using PI and SMC IPEC, 2010 Conference Proceedings, 2010, pp.945- 950.DS movie mention 2 . ( 20 10 ) dsPIC30f3010 Data Sheet. Microchip Technology Inc. 16 .DSOUZA, S. ( 2004 ) detector less BLDC Motor Control Using dsPIC30f2010. Microchip Technology Inc. 18 . ELLIOTT, C. & A BOWLING, S. ( 2004 ) Using the dsPIC30F for mindless BLDC control. IEEE Inc. 20 . HUDDLESTON, C. ( 2007 ) Intelligent detector design utilizing the micro chip Ds PIC electronic resource / by Creed Huddleston. , Elsevier/News.TabulationJ. Plantier, H. Aziza, J.M. Portal, C. Reliaud, A. Regnier, J.L. Ogier, EEPROM tunnel oxide life-time dependability anticipation based on fast electrical emphasis trials ELECTRONICS LETTERS Vol. 46 No. 23, 2010.Tang Yiliang, Cui Wenjin, Xie Xiaorong, Han Yingduo, Man-Chung Wong 80Cl96MC Microcontroller-based Inverter Motor Control and IR2130 Six-output IGBT driver Department of Electrical Engineering and Faculty of Science and Technology, 1999, pp.665-667. FIGURE9 and 3.1.2.1 David Cook CHAPTER 14 Variable Resistors ROBOT Building FOR BEGINNERS , 2010, pp 173-19 1. trimport