Modeling analysis and velocity control of DC motor for industrial applications

Project Title

Modeling analysis and velocity control of DC motor for industrial applications

Project Area of Specialization Electrical/Electronic EngineeringProject Summary

This project is comprised of simulation and physical experiments. In summary, this project has three stages:
Modelling of the motor:
Motor parameters: Viscous and coulomb friction. These are computed though experiments.
Dynamic modelling: These are mathematical equations obtained through well-defined modelling methods.
Analysis:
Verification of motor parameters by comparing simulations and experiments.
Verification of dynamic model by comparing simulations and experiments.
Step/impulse response
Open and close loop stability analysis
Control:
Position and velocity control.
For each task i.e. position and velocity control, lead, lag and PID control techniques will be implemented and tested through simulations and experiments.

Project Objectives

In all industrial equipment from CNC machines to Robotic arm the common element is a motor. The response of these motors vary from application to application. At some places, like picking items from fast moving conveyer belt, these motors are required to actuate at very high speed and accuracy. Whereas, the same motor used in a medical robot will be required to move smoothly and extremely precisely at very slow speeds. Therefore, it is important to understand the dynamics of it, which is the aim and main goal of this project. This project will guide through each steps that leads to the aforementioned applications.   

Project Implementation Method

Physical system
DC motor
Theoretical concepts
System modelling 
Transfer function 
State space
Analysis 
Step/impulse response 
Open and close loop stability analysis (root locus and bode plot)
Controller design for position and velocity in continuous and discrete domain
Lead controller
Lag controller 
Combinations of P, I and D controller
Simulations
MATLAB as primary environment to 
Simulate all the aspects presented in theoretical concepts
Communicate with hardware 
Real time data analysis 
Python as secondary environment 
Communicate with hardware 
Real time data analysis 
Experiments on hardware
DC motor parameter identification
Step and impulse response (validation by comparing it with simulations)
Motor control implementation
Hardware tasks
Position encoder and velocity sensor integration to dc motor
Motor driver PCB design and development
Motor control programming on ESP32
Serial communication between ESP32 and MATLAB/Python
Integration of motor driver to ESP32 development board
Software tools 
MATLAB
Python 
Arduino IDE
KiCAD PCB design software

 

Benefits of the Project

In all industrial equipment from CNC machines to Robotic arm the common element is a motor.

Industrial equipment from Conveyer Belt to Robotic Arm the common element is a Motor.?
At some places, like picking items from fast moving conveyer belt, these motors are required to actuate at very high speed and accuracy?.
The response of these motors vary from application to application some required to move smoothly and extremely precisely at very slow speeds?

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Technical Details of Final Deliverable

Our main is brushed dc motor, after its modeling and performing other technique we will implement all them on 2DOF-Roboctic Arm, which would be application of our project.

Final Deliverable of the Project HW/SW integrated systemCore Industry ITOther Industries Manufacturing Core Technology RoboticsOther Technologies OthersSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	52550
Brushed DC motor	Equipment	3	2500	7500
Bluetooth module	Equipment	3	1500	4500
Robotic arm	Equipment	2	9000	18000
DC supply	Equipment	2	2500	5000
ESP-32 (wifi)	Equipment	2	2500	5000
Servo motors	Equipment	3	850	2550
Thesis, report printing,, tesing	Miscellaneous	1	10000	10000