PID CONTROL OF BRUSHLESS DC MOTOR AND ROBOT

OludayoJohnOguntoyinboPIDCONTROLOFBRUSHLESSDCMOTORANDROBOTTRAJECTORYPLANNINGANDSIMULATIONWITHMATLAB®/SIMULINK®TechnologyandCommunication2009ACKNOWLEDGEMENTSMysinceregratitudegoesfirsttomyCreator.Thoughithasbeensuchajourneyacademically,HehasbeenmySufficiencyandmyHelpintimesofneed.“Heknowsmewell”MrandMrsOguntoyinbo,myparents,deserveallthecreditfortheirsupportbothinkindandincash;theyhavebeenthereallthroughmylifevoyageprayerfullyforme.Theirpatienceisgreatlyappreciated.Tomysupervisor,hisviewthateverythingissimplestillamazesmeevenwhenthe“stuffs”areseriousnutstocrack.Iamgratefulforhisservice.Tomytechnicalfriends,IfetaAdekunleandFrej,yourtechnicalsupportsareworthyofappreciation.Youmadeapartofmystory.Tomyfriendsandpersonalfriend,youareworthyofmykudos.Thankyou!OludayoOguntoyinboDecember,2009VAASANAMMATTIKORKEAKOULUUNIVERSITYOFAPPLIEDSCIENCESDegreeProgrammeofInformationTechnologyABSTRACTAuthorOludayoJohnOguntoyinboTitlePIDControlofBrushlessDCMotorandRobotTrajectoryPlanningSimulationwithMATLAB®/SIMULINK®Year2009LanguageEnglishPages90+0AppendicesNameofSupervisorLiuYangThisreportpresentsaPIDmodelofabrushlessdc(BLDC)motorandarobottrajectoryplanningandsimulation.Ashortdescriptionofthebrushlessdcmotorisgiven.Forthiswork,mathematicalmodelsweredevelopedandsubsequentlyusedingettingthesimulationparameters.ThePIDmodelisaccomplishedwiththeuseofMATLAB®/SIMULINK®.TheoperationalparametersofthespecificBLDCmotorweremodelledusingthetuningmethodswhichareusedtodevelopsubsequentsimulations.ThebestPIDparameterswerethereafterusedfortherobottrajectoryandsimulationoverafootballpitchmodel.KeywordsPID,BLDCmotor,MATLAB/SIMULINK3CONTENTSACKNOWLEDGEMENTS....................................................................................1LISTOFFIGURES................................................................................................5LISTOFTABLES..................................................................................................7ABBREVIATIONSANDSOMETERMS............................................................81INTRODUCTION..........................................................................................92DCMOTOR..................................................................................................122.1DCmotors..............................................................................................123DCMOTORMODEL..................................................................................143.1MathematicalmodelofatypicalDCmotor...........................................144BRUSHLESSDCMOTORANDMODELCONCEPT..............................194.1MathematicalmodelofatypicalBLDCmotor......................................195MAXONBLDCMOTOR............................................................................225.1MaxonEC45flat∅45mm,brushlessDCmotor...................................226BLDCMaxonMotorMathematicalModel..................................................237OPENLOOPANALYSISOFTHEMAXONMOTORMODEL..............257.1OpenLoopAnalysisusingMATLABm-file....................................257.2OpenLoopAnalysisusingSIMULINK.................................................298PIDDESIGNCONCEPT.............................................................................328.1SomecharacteristicseffectsofPIDcontrollerparameters.....................348.2PIDcontrollerdesigntips.......................................................................359PIDCONTROLLERTUNINGPARAMETERS.........................................369.1ThePIDarrangement.............................................................................369.2TrialandErrortuningmethods..............................................................379.2.1TheRouth-Hurwitzstabilityrule....................................................379.2.2Proportionalcontrol........................................................................419.2.3Proportional-Integralcontrol...........................................................449.2.4Proportional-Integral-Derivativecontrol........................................479.3Ziegler-Nicholstuningmethods.............................................................549.4ComparisoneffectsofTrialandErrorwithZiegler-Nicholstuningmethods.............................................................................................................7410FOOTBALLPITCHLAYOUTMODEL.....................................................7810.1DimensionsofthePitch......................................................................7810.2FootballpitchMATLABdesignimplementation...............................7911ROBOT4-WHEELMOTORMODELTRAJECTORYPLANNING........8412CONCLUSION,CHALLENGESANDRECOMMENDATION................93412.1Conclusion..........................................................................................9312.2Challenges...........................................................................................9312.3Recommendations–Possibleimprovement.......................................93REFERENCES......................