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Learning PID digital motor control using launchpad C2000 ecosystem
from Texas-instruments
To cite this article: Jimmy Linggarjati 2018 IOP Conf. Ser.: Earth Environ. Sci. 195 012062
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The 2nd International Conference on Eco Engineering Development 2018 (ICEED 2018) IOP Publishing
IOP Conf. Series: Earth and Environmental Science 195 (2018) 012062 doi:10.1088/1755-1315/195/1/012062
Learning PID digital motor control using launchpad C2000
ecosystem from Texas-instruments
Jimmy Linggarjati
Computer Engineering Department, Faculty of Engineering Bina Nusantara
University, Jakarta, Indonesia 11480
Abstract. Control System and Microcontroller courses have no close relation in our
curriculum, based on the content of those two courses. Therefore, students have difficulty to
relate the control system theory with its implementation in digital circuit, especially using
microcontroller. With the funding from Binus and the laboratory support on Matlab
simulation, our students are expected to be able to implement control algorithm solution, into a
real control system implementation, which in this case, a PID for a Servo DC Motor.
The Ecosystem Launchpad-TI helps students in their first year, to learn about control system,
where the experiments can be conducted with a ready hardware named “Launchpad” and its
associated software, which are packed in a digital control library (DCL) format.
Keywords: microcontroller, PID, servo DC motor, Digital Control Library (DCL)
1. Introduction
From the previous paper [8], an unknown DC motor parameter, can be calculated based on
experimental procedures. This time, the DC motor is connected to a ball-screw linear guide, to change
from a rotary into a linear motion and with it, the inertia of the whole system increased. The objective
of this is to have a proof of concept that PID control algorithm can be indeed used in a practical
application, such as in a CNC machine [11-12].
The goal of this research is to relate between the mathematical transfer function of the DC
motor, with its control algorithm implementation using C2000 TI microcontroller. The ability to
understand the relation between the Z transform analysis tools with its difference equation, becomes
an important foundation in bridging the simulation control algorithm model into coding. Because
without the skill to implement the algorithm in microcontroller, students will not understand the
essential of Z transform as an analysis tool. And more importantly, students will be more motivated to
learn control theory, because they know its importance in our industrial society.
For the simplest algorithm, we will focus only on the PID alogrithm applied to a Positioning
DC Servo Motor. Because we used a linear ball screw (figure-1a), the students will be able to directly
see if their PID implementation works in real system. While figure 1b shows the rest of the
experimental setup, which include a C2000 TI microcontroller and a DC servo driver.
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Published under licence by IOP Publishing Ltd 1
The 2nd International Conference on Eco Engineering Development 2018 (ICEED 2018) IOP Publishing
IOP Conf. Series: Earth and Environmental Science 195 (2018) 012062 doi:10.1088/1755-1315/195/1/012062
(a)
(b)
Figure 1a – A ball-screw with ruler, 1b – C2000 Microcontroller and DC Servo Driver
A literature study [1-5], shows that it is important for undergraduate student to see that
control system really works as in mathematical model. This approach greatly motivate students to
learn further in the direction of control engineering. During this experiment, it is realize that a good
understanding in Laplace Analysis in Electronic circuit has become a foundation to link between the
classical analog control analysis with the digital control analysis, in which nowadays a solution in the
form of digital control system is a must in industrial world [6].
2. Hardware System
Creating a positioning control system for DC Motor, requires multidispline in electronic,
mechanic, mathematical analysis, and also in programming skill. Therefore students who take an
introductory of control system, must be exposed with a project guide that led them to successful
implementation of their first PID positioning system.
Fortunately, Texas instruments has created a launchpad ecosystem, that benefit students and
universities who has no capabilities to produce their own professional electronic prototypes. And
moreover, TI has a full support for a free compiler and debugger tool at their disposal. The launchpad
itself cost only between USD 10 up to USD 20, depending on the power of the microcontroller.
For the electronic of motor driver, we use a H-bridge system with mosfet driver IR2184
design by UHU [13]. Figure-2 highlights one important function, i.e. a current limiter. The current
flow into the motor is sensed by a passive low value resistor. If the voltage drop across the sense
resistor is greater than the setpoint voltage value, then the system will turn off the entire MOSFET that
form the H-bridge.
2
The 2nd International Conference on Eco Engineering Development 2018 (ICEED 2018) IOP Publishing
IOP Conf. Series: Earth and Environmental Science 195 (2018) 012062 doi:10.1088/1755-1315/195/1/012062
Figure 2 – A snapshot of current limiter circuit using a Comparator Op-Amp
Figure 3 – Another snapshot of H-bridge using Mosfet Driver IR2184
Figure-3 shows the usage of a 4-quadrant PWM in this system [14]. In a 4-quadrant PWM, a
50% duty cycle, means that the DC Motor position is equal with its tracking reference (r). Therefore to
determine the direction of rotation, it is only based on the left and the right value from its center point,
which is a duty cycle of 50%.
3. Software System
A Launchpad F28027 is used as the brain controller for this experiment. A chosen control
scheme is PID, which is a professional PID implementation based on chapter 3 from C2000TM Digital
Controller Library User Guide [7].
Figure 4 shows the design of digital PID block from C2000 DCL. Notice, that in the
classroom, it is very important to show the students how to translate from z-transform into a difference
equations, and then into a block diagram. This skill is needed for students to be able to use the PID
library in C2000 microcontroller.
3
The 2nd International Conference on Eco Engineering Development 2018 (ICEED 2018) IOP Publishing
IOP Conf. Series: Earth and Environmental Science 195 (2018) 012062 doi:10.1088/1755-1315/195/1/012062
Figure 4 – A careful design of Digital PID Controller from C2000 DCL
The PID tuning procedures are as follows:
1. Set Kp to a safe value (Kp = 1000) and set Ki and Kd to zero.
2. Apply a disturbance transient into the DC Servo Motor via its rotor, by jerking the rotation of its
motor.
3. If oscillation occur, then lower the Kp value by 10%.
4. Increase Ki to eliminate steady-state error.
5. If an oscillation occur, then lower the Ki value again by 10% from its point that the oscillation
occur.
6. Set Kd only if the values of Kp and Ki can not eleminate the oscillation.
It is important that students have experiences to tune a PID controller, before advancing to a
more modern control theory, such as state-space model.
4. Conclusion
With a real show-case of DC Servo Positioning control, directly coupled with a linear ball-
screw guide, students understand better about the relation between mathematic analyses with the
programming implementation in microcontroller.
With the use of TI Launchpad ecosystem, the difficulty in making professional PCB
(Printed Circuit Board), can be avoided. And the PID programming library has lessen the student
effort to write the programming from scratch. Therefore, students have more time to compare the
simulation data with the actual output implementation.
With this literature research acomplishment, it is hoped that in the future, modern control
system theory can be explore in undergraduate students level, to solve a more complex control
problem such as an inverted pendulum.
5. References
[1] Yang Cao, “Learning Digital Control Design Made Easy Through Real-Time Experiment
Solutions” – Proc. 2014 Canadian Engineering Education Association (CEEA2014) Conf.
[2] Chyi_Shyong Lee, Juing-Huei Su, Yu-Li Wang, Chia-Ruei Lee, and Jia-Shing Fu, “Learning
digital control systems with a low-cost educational platform” – Proc. of 2005 CACS Automatic
Control Conference Tainan, Taiwan, Nov 18-19, 2005.
[3] Hongtai Cheng, Lina Hao, Zhong Luo, and Fei Wang, “Establishing the Connection between
Control Theory Education and Applicaion: An Arduino Based Rapid Control Prototyping
Approach” – International Journal of Learning and Teaching Vol. 2, No. 1, June 2016.
4
The 2nd International Conference on Eco Engineering Development 2018 (ICEED 2018) IOP Publishing
IOP Conf. Series: Earth and Environmental Science 195 (2018) 012062 doi:10.1088/1755-1315/195/1/012062
[4] Dieter Muller, Frederico Menine Schaf, “A Low Cost Learning Environment for Collaborative
Engineering”
[5] B. Taylor, P. Eastwood & B. LI. Jones, “Development of a Low-cost, Portable Hardware
Platform to Support Hands-on Learning in the Teaching of Control and Systems Theroy” –
Engineering Education – a Journal of the Higer Education Academy.
[6] K. J. Astrom and B. Wittenmark, Computer-Controlled Systems, Theory and Design, 3rd edition,
Prentice-Hall, Inc., 1997.
[7] C2000TM Digital Controller Library User’s Guide, Literature Number: SPRUI31 July 2015
[8] Jimmy Linggarjati, “DC Servo Motor Positioning with Anti-Windup Implementation using
C2000 ARM-Texas Instrument” - IOP Conference Series: Earth and Environmental Science -
2017
[9] Jimmy Linggarjati, “DC Servo Motor Modelling” – Bina Nusantara University – 2016
[10] DC Motor Position: System Analysis,
http://ctms.engin.umich.edu/CTMS/index.php?example=MotorPosition§ion=SystemAnalysis
[11] Jimmy Linggarjati and Rudy Susanto, “Penggunaan Motor BLDC pada Mesin CNC dengan
Teknologi InstaSPIN-MOTION dari Texas Instrument”, Seminar Nasional Instrumentasi,
Kontrol dan Otomasi (SNIKO) 2015 Bandung-Indonesia, 10-11 November 2015.
[12] Jimmy Linggarjati and Rinda Hedwig, “Manually Interchangeable Head of Homemade Computer
Numerical Control (CNC) Machine, Internetworking Indonesia Journal Vol.1 No.1 2013.
[13] UHU Servo Controller, http://www.uhu-servo.de/servo_en/UHU_Servo_Controller_300_en.pdf
[14] Four-Quadrant DC Motor Controller,
http://www.ece.uvic.ca/~fayez/courses/ceng465/lab_465/project4/dc_motor.pdf
