PID Speed Controller for DC Motor
[@version 1 ] PID loop is used in this project to control the speed of a permanent magnet DC motor.
Components and supplies
1
INA219 I2C POWER MONITOR SENSOR
1
Voltage regulator 5v
1
wire
1
Dc motor 24v/150w
1
Voltage regulator 9v
1
Gt2 pulley 20 teeth 8mm (for motor)
1
Gt2 closed loop belt
1
Gt2 pulley 20 teeth 6mm (for encoder)
1
Bread board 830 tie
1
Arduino UNO
2
On –off switch
2
Cooling fan
1
Encoder 600ppr incremental
1
IRF540 Power MOSFET
1
SERIAL I2C TO LCD
1
Push button
1
Power supply 300w - 24/12 v
1
Bluetooth hc-05
1
LCD
Tools and machines
1
3D Printer (generic)
1
digital multimeter
1
cnc machine
Apps and platforms
1
Arduino IDE
1
MATLAB
1
Visual Studio 2015
Project description
Code
results of parameters estimation.
markdown
this is estimation values of our dc motor after applied nonlinear least square method from matlab.
1from estimation of parameter of dc motor : 2 3B=1.5319e-04; 4J=1.2130e-05; 5K=0.0034; 6L=0.0127; 7R=0.0710; 8 9
step input data
matlab
this is a step input data from arduino after applied 24v to the motor. step1: convert freqency to rps then to rpm. step2:convert time from us to s. step3: time start from zero.
1clc; 2close all; 3 4data=[ 50.07 14866316 6418.84 14868832 7861.05 14869992 81129.94 14870936 91340.48 14871824 101546.64 14872728 111671.54 14873988 121825.03 14877048 131938.22 14880108 142059.73 14883168 152175.98 14886228 162287.35 14889288 172403.48 14892348 182503.91 14895408 192605.01 14898468 202723.87 14901532 212818.89 14904588 222955.85 14907656 233093.58 14910708 243668.04 14913768 254371.58 14916828 265251.07 14919888 276012.78 14922948 287098.49 14926012 297707.13 14929068 308681.50 14932128 319302.33 14935196 3210575.02 14938428 3311469.53 14941648 3412509.77 14944880 3512851.41 14948108 3612618.30 14951344 3714939.31 14954568 3815223.60 14957808 3915794.67 14961036 4016597.51 14964260 4117486.34 14967488 4218823.53 14970720 4318120.05 14973948 4418890.20 14977188 4519536.02 14980416 4619925.28 14983648 4720565.55 14986876 4821447.72 14990100 4921947.87 14993336 5021739.13 14996568 5122068.97 14999796 5223809.52 15003020 5324279.21 15006256 5424242.42 15009488 5523845.01 15012708 5625723.47 15015952 5726058.63 15019168 5826490.07 15022400 5926143.79 15025628 6026711.19 15028860 6127874.57 15032096 6227972.03 15035320 6327491.41 15038556 6428318.58 15041780 6528520.50 15045016 6628520.50 15048248 6728828.83 15051468 6829197.08 15054708 6930018.76 15057936 7029357.80 15061168 7129574.86 15064388 7230828.52 15067624 7330188.68 15070856 7430769.23 15074088 7530828.52 15077316 7631067.96 15080540 7731558.19 15083768 7832128.51 15087008 7931683.17 15090228 8031683.17 15093460 8132388.66 15096688 8232323.23 15099924 8332719.84 15103156 8432989.69 15106388 8532921.81 15109616 8632653.06 15112848 8733542.98 15116076 8833333.33 15119308 8933970.28 15122536 9033264.03 15125768 9133542.98 15128996 9233333.33 15132220 9333898.30 15135456 9434261.24 15138688 9534632.03 15141916 9633472.80 15145140 9734408.60 15148376 9834334.76 15151600 9934334.76 15154836 10034482.76 15158060 10134782.61 15161296 10235010.94 15164520 10334334.76 15167756 10434261.24 15170988 10534482.76 15174216 10634632.03 15177440 10734707.16 15180676 10834482.76 15183912 10935714.28 15187136 11036117.38 15190360 11136866.36 15193596 11235164.83 15196820 11335555.55 15200048 11434934.50 15203288 11535476.72 15206508 11635164.83 15209748 11736697.25 15212976 11835320.09 15216208 11935320.09 15219436 12035714.28 15222668 12136446.47 15225896 12236117.38 15229120 12335320.09 15232356 12435320.09 15235584 12535476.72 15238808 12635955.05 15242048 12735874.44 15245276 12836697.25 15248508 12935555.55 15251736 13035714.28 15254960 13135794.18 15258192 13236613.27 15261428 13336199.09 15264648 13435874.44 15267888 13536697.25 15271108 13635794.18 15274344 13736529.68 15277576 13835555.55 15280800 13935955.05 15284036 14036363.64 15287268 14135794.18 15290496 14235874.44 15293728 14335242.29 15296956 14436117.38 15300180 14537914.69 15303408 14636036.03 15306640 14735555.55 15309876 14835555.55 15313100 14935555.55 15316336 15036951.50 15319564 15136951.50 15322788 15236529.68 15326020 15335714.28 15329256 15435634.74 15332488 15536363.64 15335716 15636613.27 15338948 15738277.51 15342176 15836529.68 15345408 15936363.64 15348628 16035555.55 15351860 16137825.06 15355096 16237647.06 15358324 16336363.64 15361552 16436697.25 15364788 16535874.44 15368016 16636446.47 15371240 16736281.18 15374476 16836117.38 15377704 16936446.47 15380936 17036281.18 15384160 17136281.18 15387388 17235874.44 15390628 17337383.17 15393848 17437209.30 15397088 17535955.05 15400316 17635955.05 15403540 17736281.18 15406772 17836529.68 15410008 17937296.04 15413236 18036446.47 15416468 18136446.47 15419692 18236529.68 15422924 18336781.61 15426152 18437122.97 15429380 18536199.09 15432616 18637558.68 15435840 18736446.47 15439072 18837647.06 15442300 18936281.18 15445532 19036697.25 15448768 19136529.68 15451988 19237558.68 15455220 19337209.30 15458456 19435955.05 15461680 19536446.47 15464916 19636613.27 15468140 19736199.09 15471368 19836951.50 15474604 19936036.03 15477836 20036281.18 15481060 20136951.50 15484296 20237209.30 15487528 20336613.27 15490756 20436199.09 15493988 20536363.64 15497208 20638004.75 15500448 20736529.68 15503676 20837037.03 15506908 20936199.09 15510128 21036281.18 15513368 21137209.30 15516596 21237914.69 15519828 21336697.25 15523056 21436363.64 15526280 21537037.03 15529516 21636613.27 15532740 21736951.50 15535976 21836529.68 15539224 21936697.25 15542428 22036951.50 15545668 22137383.17 15548896 22236697.25 15552128 22337383.17 15555356 22436281.18 15558588 22536529.68 15561816 22637296.04 15565048 22738095.24 15568276 22836781.61 15571500 22936529.68 15574736 23036363.64 15577968 23136697.25 15581204 23237037.03 15584428 23337122.97 15587652 23436036.03 15590888 23536613.27 15594116 23636781.61 15597348 23736117.38 15600576 23837209.30 15603808 23936117.38 15607032 24037647.06 15610268 24136117.38 15613488 24236446.47 15616720 24336199.09 15619956 24435874.44 15623192 24537296.04 15626416 24635398.23 15629648 24735955.05 15632876 24836446.47 15636100 24935476.72 15639336 25037209.30 15642564 25137470.73 15645796 25236036.03 15649028 25336866.36 15652248 25436866.36 15655488 25536951.50 15658716 25636199.09 15661940 25736951.50 15665188 25837122.97 15668404 25936781.61 15671636 26036446.47 15674860 26137914.69 15678088 26237209.30 15681320 26336529.68 15684548 26438740.92 15687788 26536781.61 15691016 26636199.09 15694240 26736529.68 15697468 26836951.50 15700708 26938095.24 15703932 27036446.47 15707164 27136363.64 15710396 27237209.30 15713628 27337383.17 15716856 27437037.03 15720088 27536613.27 15723316 27636446.47 15726540 27736951.50 15729776 27836363.64 15733000 27936951.50 15736228 28036281.18 15739468 28136036.03 15742688 28237825.06 15745928 28336613.27 15749156 28436951.50 15752388 28536036.03 15755616 28636613.27 15758848 28736363.64 15762072 28836199.09 15765304 28936117.38 15768536 29036281.18 15771760 29136363.64 15774996 29236781.61 15778228 29336446.47 15781456 29435874.44 15784680 29538554.22 15787916 29635874.44 15791140 29736951.50 15794376 29835874.44 15797608 29936866.36 15800836 30035634.74 15804064 30136697.25 15807288 30236613.27 15810528 30336781.61 15813756 30436697.25 15816980 30536281.18 15820216 30636117.38 15823448 30735955.05 15826668 30836866.36 15829908 30937383.17 15833136 31037037.03 15836360 31136446.47 15839596 31236613.27 15842828 31337383.17 15846056 31437209.30 15849284 31536199.09 15852516 31636363.64 15855748 31736446.47 15858976 31837558.68 15862208 31936613.27 15865436 32036951.50 15868668 32137037.03 15871896 32236281.18 15875128 32337037.03 15878352 32436529.68 15881588 32536951.50 15884812 32637209.30 15888044 32736613.27 15891272 32836281.18 15894500 32936446.47 15897736 33036613.27 15900960 33137825.06 15904192 33237209.30 15907424 33336117.38 15910656 33436529.68 15913888 33538186.16 15917116 33637383.17 15920340 33736529.68 15923576 33837122.97 15926808 33937296.04 15930032 34036866.36 15933268 34138740.92 15936488 34236363.64 15939724 34336781.61 15942956 34435714.28 15946188 34536446.47 15949408 34636363.64 15952648 34735955.05 15955868 34836529.68 15959108 34936613.27 15962336 35037735.85 15965560 35136613.27 15968796 35237122.97 15972024 35336951.50 15975256 35436363.64 15978488 35538095.24 15981716 35635634.74 15984948 35736281.18 15988168 35836781.61 15991404 35938554.22 15994632 36036866.36 15997864 36135955.05 16001088 36236781.61 16004328 36336951.50 16007556 36436613.27 16010788 36536613.27 16014016 36635874.44 16017240 36736529.68 16020476 36836781.61 16023708 36936281.18 16026936 37036199.09 16030168 37136363.64 16033392 37236036.03 16036628 37336613.27 16039848 37435955.05 16043088 37536363.64 16046316 37636363.64 16049540 37736529.68 16052776 37836281.18 16056000 37937296.04 16059228 38037037.03 16062472 38136199.09 16065696 38236446.47 16068920 38336613.27 16072156 38436363.64 16075388 38537037.03 16078616 38637037.03 16081848 38735476.72 16085076 38836363.64 16088300 38936781.61 16091532 39037558.68 16094760 39136199.09 16097988 39237209.30 16101228 39337735.85 16104464 39437037.03 16107680 39537037.03 16110916 39636613.27 16114148 39736951.50 16117376 39836529.68 16120608 39937470.73 16123836 40036951.50 16127068 40136036.03 16130296 40237383.17 16133520 40336199.09 16136748 40436951.50 16139980 40536529.68 16143216 40636199.09 16146452 40737914.69 16149668 40835634.74 16152900 40936446.47 16156128 41036363.64 16159368 41136199.09 16162588 41236866.36 16165828 41336781.61 16169056 41436363.64 16172288 41536529.68 16175516 41636613.27 16178744 41737383.17 16181976 41836281.18 16185200 41937122.97 16188444 42036697.25 16191660 42136281.18 16194896 42236199.09 16198128 42336866.36 16201352 42436866.36 16204588 42536529.68 16207812 42636951.50 16211048 42737647.06 16214268 42836613.27 16217504 42936697.25 16220736 43036199.09 16223964 43136951.50 16227188 43236529.68 16230428 43337037.03 16233656 43436951.50 16236880 43537383.17 16240108 43636199.09 16243344 43735955.05 16246576 43836529.68 16249800 43936446.47 16253036 44037470.73 16256268 44137296.04 16259488 44235794.18 16262728 44336281.18 16265956 44436697.25 16269188 44535634.74 16272416 44636199.09 16275648 44735874.44 16278872 44837914.69 16282108 44936697.25 16285336 45035955.05 16288568 45136281.18 16291796 45236446.47 16295028 45336036.03 16298252 45437383.17 16301488 45536529.68 16304708 45636613.27 16307940 45737383.17 16311176 45836613.27 16314412 45936613.27 16317628 46037122.97 16320860 46137296.04 16324096 46236529.68 16327328 46336446.47 16330552 46435874.44 16333784 46536281.18 16337016 46636951.50 16340240 46736446.47 16343476 46836446.47 16346708 46936697.25 16349936 47036781.61 16353168 47137470.73 16356388 47236446.47 16359620 47337122.97 16362856 47437122.97 16366080 47537037.03 16369316 47639119.80 16372544 47736363.64 16375768 47837209.30 16379000 47937470.73 16382228 48036781.61 16385460 48136951.50 16388696 48237735.85 16391924 48337825.06 16395156 48435714.28 16398388 48535955.05 16401616 48636951.50 16404848 48736281.18 16408072 48837296.04 16411308 48936363.64 16414528 49036613.27 16417764 49136199.09 16420988 49236613.27 16424228 49337383.17 16427456 49437735.85 16430680 49536281.18 16433916 49636446.47 16437148 49737209.30 16440368 49836866.36 16443608 49936281.18 16446828 50035714.28 16450068 50136613.27 16453296 50236951.50 16456528 50336363.64 16459756 50436781.61 16462988 50537037.03 16466208 50636363.64 16469440 50736866.36 16472676 50836613.27 16475900 50937037.03 16479136 51036697.25 16482360 51137209.30 16485596 51236951.50 16488828 51336363.64 16492056 51436036.03 16495280 51538004.75 16498516 51637735.85 16501740 51736697.25 16504972 51835955.05 16508200 51935955.05 16511436 52036951.50 16514668 52136951.50 16517896 52237122.97 16521128 52335874.44 16524352 52436281.18 16527588 52537914.69 16530808 52636529.68 16534048 52736446.47 16537276 52836781.61 16540500 52936363.64 16543736 53036951.50 16546960 53137470.73 16550188 53236529.68 16553420 53337209.30 16556656 53436613.27 16559880 53537825.06 16563116 53636446.47 16566348 53736866.36 16569576 53836697.25 16572808 53936117.38 16576036 54036866.36 16579260 54136281.18 16582492 54237037.03 16585724 54335555.55 16588948 54436117.38 16592188 54536281.18 16595408 54636117.38 16598640 54737209.30 16601876 54836281.18 16605108 54936446.47 16608336 55036199.09 16611568 55137296.04 16614788 55237735.85 16618028 55336951.50 16621256 55436363.64 16624480 55536697.25 16627708 55636697.25 16630944 55736866.36 16634176 55836446.47 16637408 55938004.75 16640628 56036281.18 16643860 56136781.61 16647088 56236117.38 16650328 56336613.27 16653548 56438186.16 16656784 56536697.25 16660012 56636613.27 16663248 56736446.47 16666476 56835555.55 16669716 56937825.06 16672936 57035874.44 16676168 57137037.03 16679396 57236199.09 16682628 57336866.36 16685848 57436446.47 16689088 57536529.68 16692316 57636446.47 16695548 57736697.25 16698776 57836866.36 16702000 57936781.61 16705236 58036529.68 16708468 58137209.30 16711708 58237470.73 16714928 58336951.50 16718152 58436529.68 16721388 58536781.61 16724608 58637037.03 16727848 58736951.50 16731072 58837209.30 16734304 58938004.75 16737536 59036363.64 16740760 59137122.97 16743996 59238095.24 16747228 59336951.50 16750456 59437037.03 16753692 59536866.36 16756916 59637037.03 16760144 59736363.64 16763376 59836446.47 16766608 59935714.28 16769828 60036036.03 16773068 60136363.64 16776288 60236529.68 16779520 60336036.03 16782752 60436363.64 16785984 60536281.18 16789208 60637037.03 16792448 60736951.50 16795676 60836363.64 16798908 60936613.27 16802132 61035955.05 16805368 61137647.06 16808592 61236613.27 16811820 61336613.27 16815048 61437296.04 16818288 61536446.47 16821516 61636446.47 16824748 61736613.27 16827976 61836866.36 16831204 61936281.18 16834436 62035320.09 16837668 62136199.09 16840896 62236697.25 16844128 62339024.39 16847352 62436281.18 16850580 62536613.27 16853816 62636117.38 16857040 62737209.30 16860268 62837209.30 16863508 62936117.38 16866728 63037037.03 16869968 63136951.50 16873188 63236781.61 16876428 63337037.03 16879660 63436363.64 16882880 63536446.47 16886108 63636036.03 16889344 63736781.61 16892576 63836363.64 16895800 63936363.64 16899028 64036781.61 16902264 64135634.74 16905496 64236281.18 16908728 64336613.27 16911956 64436199.09 16915180 64538461.54 16918416 64637209.30 16921648 64735955.05 16924876 64836446.47 16928104 64936613.27 16931336 65037037.03 16934560 65136613.27 16937796 65236697.25 16941028 65336199.09 16944248 65436613.27 16947488 65536697.25 16950712 65636697.25 16953948 65736781.61 16957172 65836446.47 16960408 65936697.25 16963636 66035714.28 16966868 66136363.64 16970088 66236117.38 16973320 66336613.27 16976548 66437296.04 16979788 66536697.25 16983016 66636613.27 16986244 66737037.03 16989476 66836199.09 16992704 66936363.64 16995928 67035794.18 16999164 67136529.68 17002396 67237470.73 17005628 67337037.03 17008856 67437296.04 17012084 67535476.72 17015312 67636281.18 17018548 67736697.25 17021776 67838004.75 17025008 67936117.38 17028236 68037122.97 17031460 68136199.09 17034696 68236446.47 17037920 68336281.18 17041156 68436199.09 17044388 68536117.38 17047616 68636117.38 17050848 68738740.92 17054076 68836613.27 17057304 68936363.64 17060536 69036529.68 17063768 69135955.05 17066988 69236781.61 17070228 69336529.68 17073456 69437825.06 17076680 69536613.27 17079916 69635955.05 17083140 69736281.18 17086376 69836529.68 17089608 69937037.03 17092836 70036036.03 17096068 70136036.03 17099296 70236446.47 17102520 70337122.97 17105752 70437209.30 17108988 70536697.25 17112216 70637470.73 17115448 70736697.25 17118672 70837037.03 17121900 70936199.09 17125136 71036363.64 17128368 71136363.64 17131596 71236117.38 17134828 71337647.06 17138056 71436866.36 17141284 71536036.03 17144516 71637470.73 17147740 71735634.74 17150984 71836281.18 17154208 71936117.38 17157436 72036363.64 17160668 72137470.73 17163888 72236613.27 17167120 72336036.03 17170348 72437122.97 17173584 72536529.68 17176816 72637209.30 17180040 72736199.09 17183268 72836363.64 17186500 72936117.38 17189732 73036036.03 17192972 73137825.06 17196196 73236117.38 17199420 73336613.27 17202652 73437296.04 17205884 73536951.50 17209116 73636613.27 17212340 73736446.47 17215576 73836697.25 17218808 73936613.27 17222036 74037383.17 17225268 74136781.61 17228488 74236446.47 17231728 74336613.27 17234964 74436446.47 17238180 74536951.50 17241408 74636951.50 17244640 74736697.25 17247876 74838004.75 17251108 74937037.03 17254336 75037122.97 17257568 75135955.05 17260796 75236446.47 17264024 75337209.30 17267256 75437209.30 17270488 75538004.75 17273716 75636036.03 17276956 75736446.47 17280176 75838369.30 17283400 75936446.47 17286628 76036613.27 17289860 76135794.18 17293088 76236529.68 17296328 76336866.36 17299556 76436446.47 17302788 76536281.18 17306016 76637122.97 17309248 76736036.03 17312468 76836951.50 17315700 76936281.18 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244736529.68 22738876 244836446.47 22742100 244936697.25 22745336 245037558.68 22748560 245136036.03 22751788 245236529.68 22755028 245336281.18 22758256 245436697.25 22761492 245537296.04 22764708 245638554.22 22767940 245736281.18 22771168 245836363.64 22774400 245938369.30 22777636 246037825.06 22780868 246136281.18 22784096 246236036.03 22787320 246337296.04 22790552 246436697.25 22793788 246536117.38 22797016 246636281.18 22800248 246737647.06 22803484 246837122.97 22806708 246936951.50 22809936 247036363.64 22813160 247135955.05 22816392 247236697.25 22819628 247337825.06 22822852 247436529.68 22826088 247536363.64 22829316 247636781.61 22832544 247737383.17 22835776 247837122.97 22839000 247937122.97 22842236 248036199.09 22845468 248136866.36 22848696 248237037.03 22851928 248337122.97 22855156 248436866.36 22858380 248536199.09 22861616 248635955.05 22864848 248737037.03 22868076 248836951.50 22871304 248936446.47 22874528 249036117.38 22877768 249137209.30 22880996 249236529.68 22884228 249336446.47 22887452 249435955.05 22890680 249536866.36 22893916 249636199.09 22897148 249736697.25 22900376 249836613.27 22903600 249935794.18 22906828 250037209.30 22910060 250136117.38 22913296 250237122.97 22916528 250336781.61 22919748 250437383.17 22922988 250536281.18 22926212 250636446.47 22929448 250737383.17 22932676 250837037.03 22935904 250936781.61 22939136 251036697.25 22942360 251135476.72 22945596 251236613.27 22948828 251336446.47 22952056 251436951.50 22955288 251536529.68 22958516 251636036.03 22961740 251736036.03 22964972 251837122.97 22968200 251937037.03 22971436 252035320.09 22974660 252136446.47 22977896 252236781.61 22981128 252336613.27 22984356 252437383.17 22987584 252536529.68 22990808 252637647.06 22994048 252736529.68 22997268 252836866.36 23000508 252937296.04 23003732 253036866.36 23006960 253136697.25 23010196 253237122.97 23013428 253337558.68 23016652 253437647.06 23019888 253536117.38 23023108 253636613.27 23026348 253736446.47 23029576 253836697.25 23032804 253936613.27 23036036 254036199.09 23039260 254137558.68 23042496 254237037.03 23045728 254336866.36 23048956 254436446.47 23052188 254536446.47 23055416 254637296.04 23058648 254736697.25 23061876 254836281.18 23065104 254936281.18 23068336 255036866.36 23071568 255137209.30 23074796 255235874.44 23078028 255336697.25 23081252 255436951.50 23084480 255536866.36 23087716 255636951.50 23090948 255736446.47 23094176 255836866.36 23097408 255936951.50 23100636 256037122.97 23103860 256136951.50 23107096 256236446.47 23110328 256337383.17 23113556 256436781.61 23116780 256537209.30 23120016 256636781.61 23123248 256736697.25 23126476 256836866.36 23129708 256937122.97 23132936 257037209.30 23136168 257136529.68 23139388 257236613.27 23142624 257337037.03 23145856 257437383.17 23149084 257537122.97 23152308 257636281.18 23155540 257736613.27 23158776 257837122.97 23162008 257937037.03 23165236 258036697.25 23168468 258135874.44 23171696 258236446.47 23174928 258336697.25 23178156 258436866.36 23181388 258536363.64 23184616 258636199.09 23187848 258736363.64 23191072 258836951.50 23194300 258936446.47 23197536 259036529.68 23200772 259136446.47 23203988 259236117.38 23207228 259336697.25 23210456 259436781.61 23213684 259536613.27 23216908 259636697.25 23220148 259736281.18 23223368 259837037.03 23226600 259936781.61 23229828 260037209.30 23233068 2601]; 2602 2603% convert freqency to rps 2604data(:,1)=data(:,1)./600; 2605rps=data(:,1); 2606 2607%convert time from us to s 2608data(:,2)=data(:,2)./1e6; 2609time=data(:,2); 2610 2611%rpm 2612rpm=rps(:,1).*60; 2613 2614% time start from zero 2615time=time-min(time); 2616newdata=[time,rpm]; 2617 2618plot(time,rpm); 2619
all libraries
markdown
all libraries you need to import it.
1#include <Wire.h> 2#include <LiquidCrystal_I2C.h> 3#include <PID_v1.h> 4#include <FreqMeasure.h> 5#include <Adafruit_INA219.h> 6#include <FreqMeasure.h>
final code
arduino
1//when covert string into float u will get only 2 digit after float point (.) and for 2// that we cant send the value of tuning serially (kp ,ki ,kd) . 3// change these value here in arduino sketch . 4 5/* cruise control project . 6 * 1)encoder 600ppr 5v two channel A,B 7 * 2)motor 24v/150w max speed 3600rpm 8 * 3)motor driver control by pwm . 9 * 4)arduino uno . 10 * 5)power supply (12v/5a) ... (24v/10a) . 11 * 6)gt2 pulley 8mm bore. 12 * 7)gt2 pulley 6mm bore . 13 * 8)tooth belt 400mm length 6mm width . 14 * 9)(x2) fan 5v . 15 * 10)(x2)led. 16 * 11)(x2)switch on-off 17 * 12)bluetooth module. 18 * 13)lcd+i2c . 19 * 14)push button . 20 * 15) others . 21 */ 22#include <Wire.h> 23#include <LiquidCrystal_I2C.h> 24#include <PID_v1.h> 25#include <FreqMeasure.h> 26#include <Adafruit_INA219.h> 27 28Adafruit_INA219 ina219; 29 30LiquidCrystal_I2C lcd(0x27, 16, 2); 31 32// kalman filter 33double K =0; // kalman gain 34const double R=0.5 ; // error in measurement 35 36double Eest=0; // error estimate 37double pre_Eest=0; // error estimate(t-1) 38 39double est =0; // estimate 40double pre_est=0; // estimate(t-1) 41 42double sensor_meg=0; // from analog pin 43 44double p1=1; 45const double Q=0.01; //0.01; //1e-04; //1e-04; // process noise [0.001 slow response]//0.01 46///////////////////////////////////////////////// 47// kalman filter 48 49double K8 =0; // kalman gain 50const double R8=0.5 ; // error in measurement [data sheet of lm35 error =0.5] 51 52double Eest8=0; // error estimate 53double pre_Eest8=0; // error estimate(t-1) 54 55double est8 =0; // estimate 56double pre_est8=0; // estimate(t-1) 57 58double sensor_meg8=0; // from analog pin 59 60double p18=1; 61const double Q8=0.0001; // process noise [0.001 slow response] 62 63// for measure f:- 64float rps,rpm ; 65int const ppr=600; //pulse per rev. 66String data; 67String receive; 68int sampletime=20; 69int mode; 70float freq_a; 71int Disturbance=0; 72int controller=1; 73int open_loop_pwm=86; 74// sensor :- 75double voltage_sensor=12; 76double current_sensor=0.55; 77double power_sensor=25; 78 79// motor driver :- 80int in_A=6; //PWM 81//int in_B=5; //PWM 82int pwm =50; 83 84 85// pid parameters:- 86double Setpoint,Input,Output; 87 88// from pid matlab tune :- 89//double Kp=0.00548333297173391; 90//double Ki=0.0423023548974992; 91//double Kd=0.000177690701568258; 92 93double Kp=0.00206812507453938; 94double Ki=0.0339782106923304; 95double Kd=3.14697363162208e-05; 96 97// define object :- 98PID myPID(&Input,&Output,&Setpoint,Kp,Ki,Kd,DIRECT); 99 100// to apps 101String send_to(double s,double i, double e,double o,double ff,double kalman,double v_s,double c_s,double p_s){ 102String d = (String)s+";" 103 +(String)i+";" 104 +(String)e+";" 105 +(String)o+";" 106 +(String)ff+";" 107 +(String)kalman+";" 108 +(String)v_s+";" 109 +(String)c_s+";" 110 +(String)p_s 111 ; 112return d; 113d=""; 114} 115 116void setup() { 117 lcd.begin(); 118 lcd.print("cruise sys"); 119 delay(2000); 120 lcd.clear(); 121 pinMode(in_A,OUTPUT); 122 //pinMode(in_B,OUTPUT); 123 pinMode(8,INPUT_PULLUP); // must pull up to 5v to work . 124 Serial.begin(9600); 125 FreqMeasure.begin(); 126 myPID.SetMode(AUTOMATIC); //start calculation. 127 myPID.SetOutputLimits(0,255); 128 myPID.SetSampleTime(sampletime); 129 //myPID.SetSampleTime(20); // matlab. 130 Setpoint=2000; // 12v =1800 almost. 131 ///////////////////////////////////////////////////////////////////////////////// 132 uint32_t currentFrequency; 133 // Initialize the INA219. 134 // By default the initialization will use the largest range (32V, 2A). However 135 // you can call a setCalibration function to change this range (see comments). 136 ina219.begin(); 137 // To use a slightly lower 32V, 1A range (higher precision on amps): 138 //ina219.setCalibration_32V_1A(); 139 // Or to use a lower 16V, 400mA range (higher precision on volts and amps): 140 //ina219.setCalibration_16V_400mA(); 141 142} 143 144void right_move(){ 145 analogWrite(in_A,pwm); 146 //digitalWrite(in_B,LOW); 147} 148 149float get_speed(){ 150 if(FreqMeasure.available()) { 151 // if there is data coming do something : 152 float f = FreqMeasure.countToFrequency(FreqMeasure.read()); 153 freq_a=f; 154 155 //convert F to rps : 156 rps=f/ppr; 157 //convert rps to rpm : 158 rpm=rps*60; 159 // condition limit : 160 if(rpm<0){rpm=0; } 161 if(rpm>3600){rpm=3600; } 162 163 // effect of disturbance : 164 if(rpm>=500){ 165 rpm=rpm-Disturbance ; 166 } 167 return rpm; 168 } 169} 170 171void display_lcd(){ 172lcd.setCursor(0,0); 173lcd.print("S:"); 174lcd.setCursor(8,0); 175lcd.print("I:"); 176lcd.setCursor(0,1); 177lcd.print("E:"); 178lcd.setCursor(8,1); 179lcd.print("o:"); 180 181lcd_clear(); 182 183// print to lcd after clear : 184lcd.setCursor(2,0); 185lcd.print((int)Setpoint); 186lcd.setCursor(10,0); 187lcd.print((int)Input); 188lcd.setCursor(2,1); 189int e=Setpoint-Input; 190lcd.print((int)e); 191lcd.setCursor(10,1); 192lcd.print((int)Output); 193// must have delay above 300ms. 194 195} 196void lcd_clear(){ 197 198for(int i=2;i<8;i++){ 199 lcd.setCursor(i,0); 200 lcd.print(" "); 201 lcd.setCursor(i,1); 202 lcd.print(" "); 203} 204for(int i=10;i<16;i++){ 205 lcd.setCursor(i,0); 206 lcd.print(" "); 207 lcd.setCursor(i,1); 208 lcd.print(" "); 209} 210 211} 212 213void parsing (String q){ 214 String a; // sp 215 String b; // sample time 216 String c; // mode operation 217 String d; // disturbance 218 219 String a1; 220 String b1; 221 a=q.substring(0,q.indexOf(";")); 222 b=q.substring(q.indexOf(";")+1 , q.indexOf(",")); 223 c=q.substring(q.indexOf(",")+1 , q.indexOf("&") ); 224 d=q.substring(q.indexOf("&")+1 , q.indexOf("@") ); 225 // 226 a1=q.substring(q.indexOf("@")+1 , q.indexOf("%") ); 227 b1=q.substring(q.indexOf("%")+1); 228 229controller=a1.toInt(); 230typeOfControl(controller); 231 232open_loop_pwm= b1.toInt(); 233 234 Disturbance=d.toInt(); 235 //Output=Output-Disturbance; 236 237 Setpoint=a.toInt(); 238 239 sampletime=b.toInt(); 240 myPID.SetSampleTime(sampletime); 241 242 mode=c.toInt(); 243 if(mode==1){ 244 myPID.SetMode(AUTOMATIC); 245 } 246 else if (mode==0){ 247 myPID.SetMode(MANUAL); 248 Output=open_loop_pwm; 249 } 250 251} 252 253void typeOfControl(int x) 254{ 255 256if (x==1){ // pid 257Kp=0.00548333297173391; 258Ki=0.0423023548974992; 259Kd=0.000177690701568258; 260 } 261 262else if (x==2){ //pi 263Kp=0.00284752617249473; 264Ki=0.035555779556629; 265Kd=0; 266 } 267 268else if (x==3){ //p 269Kp=0.0280057653779624; 270Ki=0; 271Kd=0; 272 } 273 274else if (x==4){ // i 275Kp=0; 276Ki=0.0187518091153096; 277Kd=0; 278 } 279 280else if (x==5){ // oscillator 281Kp=0.16; 282Ki=0; 283Kd=0; 284 } 285 286myPID.SetTunings(Kp,Ki,Kd); 287 288} 289 290void loop() 291{ 292unsigned long real_ms=millis();//calculate real time ms ; 293// do it later not now. 294 295if(Serial.available()>0){ 296 receive = Serial.readString(); 297 parsing (receive); 298 299 } 300 301right_move(); 302Input=get_speed(); 303 304sensor_meg=Input; 305pre_Eest=p1+Q; 306K=Eest/(Eest+R); 307est=pre_est+K*(sensor_meg-pre_est); 308Eest=(1-K)*pre_Eest; 309 310//update kalman 311pre_est=est; 312p1=Eest; 313Input=est; 314 315 316myPID.Compute(); 317//Output=Output-Disturbance; 318pwm=Output; 319 320//data to serial plotter 321/* 322Serial.print(Setpoint); 323Serial.print(" "); 324Serial.print(Input); 325Serial.print(" "); 326Serial.println(Setpoint-Input); 327*/ 328 329//show result into lcd screen 330display_lcd(); 331 332// current 333 float shuntvoltage = 0; 334 float busvoltage = 0; 335 float current_mA = 0; 336 float loadvoltage = 0; 337 float power_mW = 0; 338 339 shuntvoltage = ina219.getShuntVoltage_mV(); 340 busvoltage = ina219.getBusVoltage_V(); 341 current_mA = ina219.getCurrent_mA(); 342 power_mW = ina219.getPower_mW(); 343 loadvoltage = busvoltage + (shuntvoltage / 1000); 344 345// 346sensor_meg8=current_mA; 347 348pre_Eest8=p18+Q8; 349// 350K8=Eest8/(Eest8+R8); 351est8=pre_est8+K8*(sensor_meg8-pre_est8); 352Eest8=(1-K8)*pre_Eest8; 353 354//update 355pre_est8=est8; 356p18=Eest8; 357 358float power_cons=busvoltage*est8; 359power_cons=power_cons/1000; 360 361// noise measurement of current sensor : 362 float noise =abs( est8 - current_mA ); 363 364// send data to c#: 365data=send_to(Setpoint,Input,Setpoint-Input,Output,freq_a,noise,busvoltage,est8,power_cons); 366Serial.println(data); //println == as string 367 368}
step input response
arduino
just apply 24v to the motor terminal and copy the result that appears in the serial monitor of Arduino ide. this is for parameter estimation of the transfer function.
1// this is a step input response of the dc motor. 2// we need frequency and time for parameter estimation. 3 4 5#include <FreqMeasure.h> 6 7void setup() { 8 Serial.begin(57600); // for faster data transmission 9 FreqMeasure.begin(); 10} 11 12void loop() { 13 if (FreqMeasure.available()) { 14 float frequency = FreqMeasure.countToFrequency(FreqMeasure.read()); 15 Serial.print(frequency); // measure the frequency 16 Serial.print("\ 17"); 18 Serial.println(micros()); // measure the time in microseconds 19 20 } 21 } 22
GUI code
markdown
download it as (.exe)
1Login Form. 2 3When opening the application, a login form will be shown and you have to enter the user name and password. 4 5· User name: user 6· Password: 1234 7 8http://www.mediafire.com/file/jtulkoftuhqhbd0/lm35.exe/file
step input response
arduino
just apply 24v to the motor terminal and copy the result that appears in the serial monitor of Arduino ide. this is for parameter estimation of the transfer function.
1// this is a step input response of the dc motor. 2// we need frequency and time for parameter estimation. 3 4 5#include <FreqMeasure.h> 6 7void setup() { 8 Serial.begin(57600); // for faster data transmission 9 FreqMeasure.begin(); 10} 11 12void loop() { 13 if (FreqMeasure.available()) { 14 float frequency = FreqMeasure.countToFrequency(FreqMeasure.read()); 15 Serial.print(frequency); // measure the frequency 16 Serial.print("\ 17"); 18 Serial.println(micros()); // measure the time in microseconds 19 20 } 21 } 22
final code
arduino
1//when covert string into float u will get only 2 digit after float point 2 (.) and for 3// that we cant send the value of tuning serially (kp ,ki ,kd) . 4// 5 change these value here in arduino sketch . 6 7/* cruise control project . 8 9 * 1)encoder 600ppr 5v two channel A,B 10 * 2)motor 24v/150w max speed 3600rpm 11 12 * 3)motor driver control by pwm . 13 * 4)arduino uno . 14 * 5)power supply (12v/5a) 15 ... (24v/10a) . 16 * 6)gt2 pulley 8mm bore. 17 * 7)gt2 pulley 6mm bore . 18 * 19 8)tooth belt 400mm length 6mm width . 20 * 9)(x2) fan 5v . 21 * 10)(x2)led. 22 23 * 11)(x2)switch on-off 24 * 12)bluetooth module. 25 * 13)lcd+i2c . 26 * 14)push 27 button . 28 * 15) others . 29 */ 30#include <Wire.h> 31#include <LiquidCrystal_I2C.h> 32#include 33 <PID_v1.h> 34#include <FreqMeasure.h> 35#include <Adafruit_INA219.h> 36 37Adafruit_INA219 38 ina219; 39 40LiquidCrystal_I2C lcd(0x27, 16, 2); 41 42// kalman filter 43double 44 K =0; // kalman gain 45const double R=0.5 ; // error in measurement 46 47double 48 Eest=0; // error estimate 49double pre_Eest=0; // error 50 estimate(t-1) 51 52double est =0; // estimate 53double pre_est=0; 54 // estimate(t-1) 55 56double sensor_meg=0; // from analog pin 57 58 59double p1=1; 60const double Q=0.01; //0.01; //1e-04; //1e-04; 61 // process noise [0.001 slow response]//0.01 62///////////////////////////////////////////////// 63// 64 kalman filter 65 66double K8 =0; // kalman gain 67const double 68 R8=0.5 ; // error in measurement [data sheet of lm35 error =0.5] 69 70double 71 Eest8=0; // error estimate 72double pre_Eest8=0; // error 73 estimate(t-1) 74 75double est8 =0; // estimate 76double pre_est8=0; 77 // estimate(t-1) 78 79double sensor_meg8=0; // from analog pin 80 81 82double p18=1; 83const double Q8=0.0001; // process noise [0.001 84 slow response] 85 86// for measure f:- 87float rps,rpm ; 88int const ppr=600; 89 //pulse per rev. 90String data; 91String receive; 92int sampletime=20; 93int 94 mode; 95float freq_a; 96int Disturbance=0; 97int controller=1; 98int open_loop_pwm=86; 99// 100 sensor :- 101double voltage_sensor=12; 102double current_sensor=0.55; 103double 104 power_sensor=25; 105 106// motor driver :- 107int in_A=6; //PWM 108//int in_B=5; 109 //PWM 110int pwm =50; 111 112 113// pid parameters:- 114double Setpoint,Input,Output; 115 116// 117 from pid matlab tune :- 118//double Kp=0.00548333297173391; 119//double Ki=0.0423023548974992; 120//double 121 Kd=0.000177690701568258; 122 123double Kp=0.00206812507453938; 124double Ki=0.0339782106923304; 125 126double Kd=3.14697363162208e-05; 127 128// define object :- 129PID myPID(&Input,&Output,&Setpoint,Kp,Ki,Kd,DIRECT); 130 131// 132 to apps 133String send_to(double s,double i, double e,double o,double ff,double 134 kalman,double v_s,double c_s,double p_s){ 135String d = (String)s+";" 136 +(String)i+";" 137 138 +(String)e+";" 139 +(String)o+";" 140 +(String)ff+";" 141 142 +(String)kalman+";" 143 +(String)v_s+";" 144 +(String)c_s+";" 145 146 +(String)p_s 147 ; 148return d; 149d=""; 150} 151 152void setup() 153 { 154 lcd.begin(); 155 lcd.print("cruise sys"); 156 delay(2000); 157 lcd.clear(); 158 159 pinMode(in_A,OUTPUT); 160 //pinMode(in_B,OUTPUT); 161 pinMode(8,INPUT_PULLUP); 162 // must pull up to 5v to work . 163 Serial.begin(9600); 164 FreqMeasure.begin(); 165 166 myPID.SetMode(AUTOMATIC); //start calculation. 167 myPID.SetOutputLimits(0,255); 168 169 myPID.SetSampleTime(sampletime); 170 //myPID.SetSampleTime(20); // matlab. 171 172 Setpoint=2000; // 12v =1800 almost. 173 ///////////////////////////////////////////////////////////////////////////////// 174 175 uint32_t currentFrequency; 176 // Initialize the INA219. 177 // By default 178 the initialization will use the largest range (32V, 2A). However 179 // you can 180 call a setCalibration function to change this range (see comments). 181 ina219.begin(); 182 183 // To use a slightly lower 32V, 1A range (higher precision on amps): 184 //ina219.setCalibration_32V_1A(); 185 186 // Or to use a lower 16V, 400mA range (higher precision on volts and amps): 187 188 //ina219.setCalibration_16V_400mA(); 189 190} 191 192void right_move(){ 193 analogWrite(in_A,pwm); 194 195 //digitalWrite(in_B,LOW); 196} 197 198float get_speed(){ 199 if(FreqMeasure.available()) 200 { 201 // if there is data coming do something : 202 float f = FreqMeasure.countToFrequency(FreqMeasure.read()); 203 204 freq_a=f; 205 206 //convert F to rps : 207 rps=f/ppr; 208 209 //convert rps to rpm : 210 rpm=rps*60; 211 // condition limit : 212 213 if(rpm<0){rpm=0; } 214 if(rpm>3600){rpm=3600; } 215 216 // 217 effect of disturbance : 218 if(rpm>=500){ 219 rpm=rpm-Disturbance ; 220 221 } 222 return rpm; 223 } 224} 225 226void display_lcd(){ 227lcd.setCursor(0,0); 228lcd.print("S:"); 229lcd.setCursor(8,0); 230lcd.print("I:"); 231lcd.setCursor(0,1); 232lcd.print("E:"); 233lcd.setCursor(8,1); 234lcd.print("o:"); 235 236lcd_clear(); 237 238// 239 print to lcd after clear : 240lcd.setCursor(2,0); 241lcd.print((int)Setpoint); 242lcd.setCursor(10,0); 243lcd.print((int)Input); 244lcd.setCursor(2,1); 245int 246 e=Setpoint-Input; 247lcd.print((int)e); 248lcd.setCursor(10,1); 249lcd.print((int)Output); 250// 251 must have delay above 300ms. 252 253} 254void lcd_clear(){ 255 256for(int i=2;i<8;i++){ 257 258 lcd.setCursor(i,0); 259 lcd.print(" "); 260 lcd.setCursor(i,1); 261 262 lcd.print(" "); 263} 264for(int i=10;i<16;i++){ 265 lcd.setCursor(i,0); 266 267 lcd.print(" "); 268 lcd.setCursor(i,1); 269 lcd.print(" "); 270} 271 272} 273 274void 275 parsing (String q){ 276 String a; // sp 277 String b; // sample time 278 String 279 c; // mode operation 280 String d; // disturbance 281 282 String a1; 283 String 284 b1; 285 a=q.substring(0,q.indexOf(";")); 286 b=q.substring(q.indexOf(";")+1 287 , q.indexOf(",")); 288 c=q.substring(q.indexOf(",")+1 , q.indexOf("&") ); 289 290 d=q.substring(q.indexOf("&")+1 , q.indexOf("@") ); 291 // 292 a1=q.substring(q.indexOf("@")+1 293 , q.indexOf("%") ); 294 b1=q.substring(q.indexOf("%")+1); 295 296controller=a1.toInt(); 297typeOfControl(controller); 298 299open_loop_pwm= 300 b1.toInt(); 301 302 Disturbance=d.toInt(); 303 //Output=Output-Disturbance; 304 305 306 Setpoint=a.toInt(); 307 308 sampletime=b.toInt(); 309 myPID.SetSampleTime(sampletime); 310 311 312 mode=c.toInt(); 313 if(mode==1){ 314 myPID.SetMode(AUTOMATIC); 315 } 316 else 317 if (mode==0){ 318 myPID.SetMode(MANUAL); 319 Output=open_loop_pwm; 320 } 321 322} 323 324void 325 typeOfControl(int x) 326{ 327 328if (x==1){ // pid 329Kp=0.00548333297173391; 330Ki=0.0423023548974992; 331 332Kd=0.000177690701568258; 333 } 334 335else if (x==2){ //pi 336Kp=0.00284752617249473; 337Ki=0.035555779556629; 338 339Kd=0; 340 } 341 342else if (x==3){ //p 343Kp=0.0280057653779624; 344Ki=0; 345 346Kd=0; 347 } 348 349else if (x==4){ // i 350Kp=0; 351Ki=0.0187518091153096; 352 353Kd=0; 354 } 355 356else if (x==5){ // oscillator 357Kp=0.16; 358Ki=0; 359 360Kd=0; 361 } 362 363myPID.SetTunings(Kp,Ki,Kd); 364 365} 366 367void 368 loop() 369{ 370unsigned long real_ms=millis();//calculate real time ms ; 371// 372 do it later not now. 373 374if(Serial.available()>0){ 375 receive = Serial.readString(); 376 377 parsing (receive); 378 379 } 380 381right_move(); 382Input=get_speed(); 383 384sensor_meg=Input; 385pre_Eest=p1+Q; 386K=Eest/(Eest+R); 387est=pre_est+K*(sensor_meg-pre_est); 388Eest=(1-K)*pre_Eest; 389 390//update 391 kalman 392pre_est=est; 393p1=Eest; 394Input=est; 395 396 397myPID.Compute(); 398//Output=Output-Disturbance; 399pwm=Output; 400 401//data 402 to serial plotter 403/* 404Serial.print(Setpoint); 405Serial.print(" "); 406Serial.print(Input); 407Serial.print(" 408 "); 409Serial.println(Setpoint-Input); 410*/ 411 412//show result into lcd screen 413display_lcd(); 414 415// 416 current 417 float shuntvoltage = 0; 418 float busvoltage = 0; 419 float current_mA 420 = 0; 421 float loadvoltage = 0; 422 float power_mW = 0; 423 424 shuntvoltage 425 = ina219.getShuntVoltage_mV(); 426 busvoltage = ina219.getBusVoltage_V(); 427 current_mA 428 = ina219.getCurrent_mA(); 429 power_mW = ina219.getPower_mW(); 430 loadvoltage 431 = busvoltage + (shuntvoltage / 1000); 432 433// 434sensor_meg8=current_mA; 435 436pre_Eest8=p18+Q8; 437// 438K8=Eest8/(Eest8+R8); 439est8=pre_est8+K8*(sensor_meg8-pre_est8); 440Eest8=(1-K8)*pre_Eest8; 441 442//update 443pre_est8=est8; 444p18=Eest8; 445 446float 447 power_cons=busvoltage*est8; 448power_cons=power_cons/1000; 449 450// noise measurement 451 of current sensor : 452 float noise =abs( est8 - current_mA ); 453 454// send data 455 to c#: 456data=send_to(Setpoint,Input,Setpoint-Input,Output,freq_a,noise,busvoltage,est8,power_cons); 457Serial.println(data); 458 //println == as string 459 460}
step input data
matlab
this is a step input data from arduino after applied 24v to the motor. step1: convert freqency to rps then to rpm. step2:convert time from us to s. step3: time start from zero.
1clc; 2close all; 3 4data=[ 50.07 14866316 6418.84 14868832 7861.05 14869992 81129.94 14870936 91340.48 14871824 101546.64 14872728 111671.54 14873988 121825.03 14877048 131938.22 14880108 142059.73 14883168 152175.98 14886228 162287.35 14889288 172403.48 14892348 182503.91 14895408 192605.01 14898468 202723.87 14901532 212818.89 14904588 222955.85 14907656 233093.58 14910708 243668.04 14913768 254371.58 14916828 265251.07 14919888 276012.78 14922948 287098.49 14926012 297707.13 14929068 308681.50 14932128 319302.33 14935196 3210575.02 14938428 3311469.53 14941648 3412509.77 14944880 3512851.41 14948108 3612618.30 14951344 3714939.31 14954568 3815223.60 14957808 3915794.67 14961036 4016597.51 14964260 4117486.34 14967488 4218823.53 14970720 4318120.05 14973948 4418890.20 14977188 4519536.02 14980416 4619925.28 14983648 4720565.55 14986876 4821447.72 14990100 4921947.87 14993336 5021739.13 14996568 5122068.97 14999796 5223809.52 15003020 5324279.21 15006256 5424242.42 15009488 5523845.01 15012708 5625723.47 15015952 5726058.63 15019168 5826490.07 15022400 5926143.79 15025628 6026711.19 15028860 6127874.57 15032096 6227972.03 15035320 6327491.41 15038556 6428318.58 15041780 6528520.50 15045016 6628520.50 15048248 6728828.83 15051468 6829197.08 15054708 6930018.76 15057936 7029357.80 15061168 7129574.86 15064388 7230828.52 15067624 7330188.68 15070856 7430769.23 15074088 7530828.52 15077316 7631067.96 15080540 7731558.19 15083768 7832128.51 15087008 7931683.17 15090228 8031683.17 15093460 8132388.66 15096688 8232323.23 15099924 8332719.84 15103156 8432989.69 15106388 8532921.81 15109616 8632653.06 15112848 8733542.98 15116076 8833333.33 15119308 8933970.28 15122536 9033264.03 15125768 9133542.98 15128996 9233333.33 15132220 9333898.30 15135456 9434261.24 15138688 9534632.03 15141916 9633472.80 15145140 9734408.60 15148376 9834334.76 15151600 9934334.76 15154836 10034482.76 15158060 10134782.61 15161296 10235010.94 15164520 10334334.76 15167756 10434261.24 15170988 10534482.76 15174216 10634632.03 15177440 10734707.16 15180676 10834482.76 15183912 10935714.28 15187136 11036117.38 15190360 11136866.36 15193596 11235164.83 15196820 11335555.55 15200048 11434934.50 15203288 11535476.72 15206508 11635164.83 15209748 11736697.25 15212976 11835320.09 15216208 11935320.09 15219436 12035714.28 15222668 12136446.47 15225896 12236117.38 15229120 12335320.09 15232356 12435320.09 15235584 12535476.72 15238808 12635955.05 15242048 12735874.44 15245276 12836697.25 15248508 12935555.55 15251736 13035714.28 15254960 13135794.18 15258192 13236613.27 15261428 13336199.09 15264648 13435874.44 15267888 13536697.25 15271108 13635794.18 15274344 13736529.68 15277576 13835555.55 15280800 13935955.05 15284036 14036363.64 15287268 14135794.18 15290496 14235874.44 15293728 14335242.29 15296956 14436117.38 15300180 14537914.69 15303408 14636036.03 15306640 14735555.55 15309876 14835555.55 15313100 14935555.55 15316336 15036951.50 15319564 15136951.50 15322788 15236529.68 15326020 15335714.28 15329256 15435634.74 15332488 15536363.64 15335716 15636613.27 15338948 15738277.51 15342176 15836529.68 15345408 15936363.64 15348628 16035555.55 15351860 16137825.06 15355096 16237647.06 15358324 16336363.64 15361552 16436697.25 15364788 16535874.44 15368016 16636446.47 15371240 16736281.18 15374476 16836117.38 15377704 16936446.47 15380936 17036281.18 15384160 17136281.18 15387388 17235874.44 15390628 17337383.17 15393848 17437209.30 15397088 17535955.05 15400316 17635955.05 15403540 17736281.18 15406772 17836529.68 15410008 17937296.04 15413236 18036446.47 15416468 18136446.47 15419692 18236529.68 15422924 18336781.61 15426152 18437122.97 15429380 18536199.09 15432616 18637558.68 15435840 18736446.47 15439072 18837647.06 15442300 18936281.18 15445532 19036697.25 15448768 19136529.68 15451988 19237558.68 15455220 19337209.30 15458456 19435955.05 15461680 19536446.47 15464916 19636613.27 15468140 19736199.09 15471368 19836951.50 15474604 19936036.03 15477836 20036281.18 15481060 20136951.50 15484296 20237209.30 15487528 20336613.27 15490756 20436199.09 15493988 20536363.64 15497208 20638004.75 15500448 20736529.68 15503676 20837037.03 15506908 20936199.09 15510128 21036281.18 15513368 21137209.30 15516596 21237914.69 15519828 21336697.25 15523056 21436363.64 15526280 21537037.03 15529516 21636613.27 15532740 21736951.50 15535976 21836529.68 15539224 21936697.25 15542428 22036951.50 15545668 22137383.17 15548896 22236697.25 15552128 22337383.17 15555356 22436281.18 15558588 22536529.68 15561816 22637296.04 15565048 22738095.24 15568276 22836781.61 15571500 22936529.68 15574736 23036363.64 15577968 23136697.25 15581204 23237037.03 15584428 23337122.97 15587652 23436036.03 15590888 23536613.27 15594116 23636781.61 15597348 23736117.38 15600576 23837209.30 15603808 23936117.38 15607032 24037647.06 15610268 24136117.38 15613488 24236446.47 15616720 24336199.09 15619956 24435874.44 15623192 24537296.04 15626416 24635398.23 15629648 24735955.05 15632876 24836446.47 15636100 24935476.72 15639336 25037209.30 15642564 25137470.73 15645796 25236036.03 15649028 25336866.36 15652248 25436866.36 15655488 25536951.50 15658716 25636199.09 15661940 25736951.50 15665188 25837122.97 15668404 25936781.61 15671636 26036446.47 15674860 26137914.69 15678088 26237209.30 15681320 26336529.68 15684548 26438740.92 15687788 26536781.61 15691016 26636199.09 15694240 26736529.68 15697468 26836951.50 15700708 26938095.24 15703932 27036446.47 15707164 27136363.64 15710396 27237209.30 15713628 27337383.17 15716856 27437037.03 15720088 27536613.27 15723316 27636446.47 15726540 27736951.50 15729776 27836363.64 15733000 27936951.50 15736228 28036281.18 15739468 28136036.03 15742688 28237825.06 15745928 28336613.27 15749156 28436951.50 15752388 28536036.03 15755616 28636613.27 15758848 28736363.64 15762072 28836199.09 15765304 28936117.38 15768536 29036281.18 15771760 29136363.64 15774996 29236781.61 15778228 29336446.47 15781456 29435874.44 15784680 29538554.22 15787916 29635874.44 15791140 29736951.50 15794376 29835874.44 15797608 29936866.36 15800836 30035634.74 15804064 30136697.25 15807288 30236613.27 15810528 30336781.61 15813756 30436697.25 15816980 30536281.18 15820216 30636117.38 15823448 30735955.05 15826668 30836866.36 15829908 30937383.17 15833136 31037037.03 15836360 31136446.47 15839596 31236613.27 15842828 31337383.17 15846056 31437209.30 15849284 31536199.09 15852516 31636363.64 15855748 31736446.47 15858976 31837558.68 15862208 31936613.27 15865436 32036951.50 15868668 32137037.03 15871896 32236281.18 15875128 32337037.03 15878352 32436529.68 15881588 32536951.50 15884812 32637209.30 15888044 32736613.27 15891272 32836281.18 15894500 32936446.47 15897736 33036613.27 15900960 33137825.06 15904192 33237209.30 15907424 33336117.38 15910656 33436529.68 15913888 33538186.16 15917116 33637383.17 15920340 33736529.68 15923576 33837122.97 15926808 33937296.04 15930032 34036866.36 15933268 34138740.92 15936488 34236363.64 15939724 34336781.61 15942956 34435714.28 15946188 34536446.47 15949408 34636363.64 15952648 34735955.05 15955868 34836529.68 15959108 34936613.27 15962336 35037735.85 15965560 35136613.27 15968796 35237122.97 15972024 35336951.50 15975256 35436363.64 15978488 35538095.24 15981716 35635634.74 15984948 35736281.18 15988168 35836781.61 15991404 35938554.22 15994632 36036866.36 15997864 36135955.05 16001088 36236781.61 16004328 36336951.50 16007556 36436613.27 16010788 36536613.27 16014016 36635874.44 16017240 36736529.68 16020476 36836781.61 16023708 36936281.18 16026936 37036199.09 16030168 37136363.64 16033392 37236036.03 16036628 37336613.27 16039848 37435955.05 16043088 37536363.64 16046316 37636363.64 16049540 37736529.68 16052776 37836281.18 16056000 37937296.04 16059228 38037037.03 16062472 38136199.09 16065696 38236446.47 16068920 38336613.27 16072156 38436363.64 16075388 38537037.03 16078616 38637037.03 16081848 38735476.72 16085076 38836363.64 16088300 38936781.61 16091532 39037558.68 16094760 39136199.09 16097988 39237209.30 16101228 39337735.85 16104464 39437037.03 16107680 39537037.03 16110916 39636613.27 16114148 39736951.50 16117376 39836529.68 16120608 39937470.73 16123836 40036951.50 16127068 40136036.03 16130296 40237383.17 16133520 40336199.09 16136748 40436951.50 16139980 40536529.68 16143216 40636199.09 16146452 40737914.69 16149668 40835634.74 16152900 40936446.47 16156128 41036363.64 16159368 41136199.09 16162588 41236866.36 16165828 41336781.61 16169056 41436363.64 16172288 41536529.68 16175516 41636613.27 16178744 41737383.17 16181976 41836281.18 16185200 41937122.97 16188444 42036697.25 16191660 42136281.18 16194896 42236199.09 16198128 42336866.36 16201352 42436866.36 16204588 42536529.68 16207812 42636951.50 16211048 42737647.06 16214268 42836613.27 16217504 42936697.25 16220736 43036199.09 16223964 43136951.50 16227188 43236529.68 16230428 43337037.03 16233656 43436951.50 16236880 43537383.17 16240108 43636199.09 16243344 43735955.05 16246576 43836529.68 16249800 43936446.47 16253036 44037470.73 16256268 44137296.04 16259488 44235794.18 16262728 44336281.18 16265956 44436697.25 16269188 44535634.74 16272416 44636199.09 16275648 44735874.44 16278872 44837914.69 16282108 44936697.25 16285336 45035955.05 16288568 45136281.18 16291796 45236446.47 16295028 45336036.03 16298252 45437383.17 16301488 45536529.68 16304708 45636613.27 16307940 45737383.17 16311176 45836613.27 16314412 45936613.27 16317628 46037122.97 16320860 46137296.04 16324096 46236529.68 16327328 46336446.47 16330552 46435874.44 16333784 46536281.18 16337016 46636951.50 16340240 46736446.47 16343476 46836446.47 16346708 46936697.25 16349936 47036781.61 16353168 47137470.73 16356388 47236446.47 16359620 47337122.97 16362856 47437122.97 16366080 47537037.03 16369316 47639119.80 16372544 47736363.64 16375768 47837209.30 16379000 47937470.73 16382228 48036781.61 16385460 48136951.50 16388696 48237735.85 16391924 48337825.06 16395156 48435714.28 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217736529.68 21866776 217836281.18 21870008 217936613.27 21873236 218038277.51 21876468 218136613.27 21879688 218237122.97 21882920 218338277.51 21886148 218436199.09 21889388 218536781.61 21892616 218638647.34 21895848 218736529.68 21899068 218836363.64 21902300 218937037.03 21905536 219036697.25 21908764 219137122.97 21911996 219236281.18 21915228 219337122.97 21918456 219436781.61 21921688 219537470.73 21924908 219637209.30 21928144 219736529.68 21931372 219836866.36 21934604 219937383.17 21937836 220037383.17 21941068 220137209.30 21944296 220236117.38 21947520 220336697.25 21950748 220437037.03 21953984 220537037.03 21957216 220636613.27 21960440 220736036.03 21963676 220836446.47 21966900 220937209.30 21970128 221036613.27 21973368 221135714.28 21976588 221236363.64 21979824 221336036.03 21983056 221435874.44 21986288 221536363.64 21989516 221636363.64 21992744 221736199.09 21995976 221835955.05 21999208 221937383.17 22002428 222035955.05 22005668 222136199.09 22008896 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231236866.36 22302828 231336446.47 22306048 231436281.18 22309280 231537470.73 22312516 231636117.38 22315748 231737037.03 22318976 231837296.04 22322208 231936281.18 22325432 232037037.03 22328668 232136529.68 22331896 232236866.36 22335124 232337209.30 22338352 232435398.23 22341588 232537122.97 22344808 232636781.61 22348040 232737914.69 22351276 232836866.36 22354508 232936697.25 22357728 233036036.03 22360960 233137037.03 22364192 233237647.06 22367424 233335555.55 22370656 233436529.68 22373888 233536281.18 22377116 233638277.51 22380348 233737209.30 22383576 233836613.27 22386800 233936529.68 22390028 234036951.50 22393268 234137647.06 22396496 234236781.61 22399728 234336446.47 22402952 234436951.50 22406180 234536613.27 22409408 234636951.50 22412648 234736866.36 22415876 234835955.05 22419104 234936781.61 22422328 235036866.36 22425568 235136697.25 22428796 235236697.25 22432028 235337296.04 22435252 235437558.68 22438484 235536529.68 22441708 235636199.09 22444940 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240237122.97 22593528 240336781.61 22596756 240436781.61 22599988 240536781.61 22603216 240637122.97 22606440 240737209.30 22609668 240836613.27 22612900 240936117.38 22616136 241036199.09 22619368 241136866.36 22622588 241236529.68 22625820 241337296.04 22629052 241436529.68 22632288 241535476.72 22635516 241637383.17 22638748 241736781.61 22641976 241838004.75 22645208 241936199.09 22648436 242035874.44 22651660 242136281.18 22654892 242236697.25 22658124 242336951.50 22661356 242436446.47 22664588 242535955.05 22667812 242637037.03 22671044 242736866.36 22674272 242836117.38 22677512 242937296.04 22680732 243036697.25 22683968 243136117.38 22687196 243236781.61 22690428 243338004.75 22693656 243436866.36 22696880 243536529.68 22700116 243636199.09 22703348 243737647.06 22706576 243836781.61 22709808 243936281.18 22713028 244037122.97 22716268 244136446.47 22719508 244236697.25 22722720 244336446.47 22725952 244436613.27 22729188 244537209.30 22732416 244636363.64 22735644 244736529.68 22738876 244836446.47 22742100 244936697.25 22745336 245037558.68 22748560 245136036.03 22751788 245236529.68 22755028 245336281.18 22758256 245436697.25 22761492 245537296.04 22764708 245638554.22 22767940 245736281.18 22771168 245836363.64 22774400 245938369.30 22777636 246037825.06 22780868 246136281.18 22784096 246236036.03 22787320 246337296.04 22790552 246436697.25 22793788 246536117.38 22797016 246636281.18 22800248 246737647.06 22803484 246837122.97 22806708 246936951.50 22809936 247036363.64 22813160 247135955.05 22816392 247236697.25 22819628 247337825.06 22822852 247436529.68 22826088 247536363.64 22829316 247636781.61 22832544 247737383.17 22835776 247837122.97 22839000 247937122.97 22842236 248036199.09 22845468 248136866.36 22848696 248237037.03 22851928 248337122.97 22855156 248436866.36 22858380 248536199.09 22861616 248635955.05 22864848 248737037.03 22868076 248836951.50 22871304 248936446.47 22874528 249036117.38 22877768 249137209.30 22880996 249236529.68 22884228 249336446.47 22887452 249435955.05 22890680 249536866.36 22893916 249636199.09 22897148 249736697.25 22900376 249836613.27 22903600 249935794.18 22906828 250037209.30 22910060 250136117.38 22913296 250237122.97 22916528 250336781.61 22919748 250437383.17 22922988 250536281.18 22926212 250636446.47 22929448 250737383.17 22932676 250837037.03 22935904 250936781.61 22939136 251036697.25 22942360 251135476.72 22945596 251236613.27 22948828 251336446.47 22952056 251436951.50 22955288 251536529.68 22958516 251636036.03 22961740 251736036.03 22964972 251837122.97 22968200 251937037.03 22971436 252035320.09 22974660 252136446.47 22977896 252236781.61 22981128 252336613.27 22984356 252437383.17 22987584 252536529.68 22990808 252637647.06 22994048 252736529.68 22997268 252836866.36 23000508 252937296.04 23003732 253036866.36 23006960 253136697.25 23010196 253237122.97 23013428 253337558.68 23016652 253437647.06 23019888 253536117.38 23023108 253636613.27 23026348 253736446.47 23029576 253836697.25 23032804 253936613.27 23036036 254036199.09 23039260 254137558.68 23042496 254237037.03 23045728 254336866.36 23048956 254436446.47 23052188 254536446.47 23055416 254637296.04 23058648 254736697.25 23061876 254836281.18 23065104 254936281.18 23068336 255036866.36 23071568 255137209.30 23074796 255235874.44 23078028 255336697.25 23081252 255436951.50 23084480 255536866.36 23087716 255636951.50 23090948 255736446.47 23094176 255836866.36 23097408 255936951.50 23100636 256037122.97 23103860 256136951.50 23107096 256236446.47 23110328 256337383.17 23113556 256436781.61 23116780 256537209.30 23120016 256636781.61 23123248 256736697.25 23126476 256836866.36 23129708 256937122.97 23132936 257037209.30 23136168 257136529.68 23139388 257236613.27 23142624 257337037.03 23145856 257437383.17 23149084 257537122.97 23152308 257636281.18 23155540 257736613.27 23158776 257837122.97 23162008 257937037.03 23165236 258036697.25 23168468 258135874.44 23171696 258236446.47 23174928 258336697.25 23178156 258436866.36 23181388 258536363.64 23184616 258636199.09 23187848 258736363.64 23191072 258836951.50 23194300 258936446.47 23197536 259036529.68 23200772 259136446.47 23203988 259236117.38 23207228 259336697.25 23210456 259436781.61 23213684 259536613.27 23216908 259636697.25 23220148 259736281.18 23223368 259837037.03 23226600 259936781.61 23229828 260037209.30 23233068 2601]; 2602 2603% convert freqency to rps 2604data(:,1)=data(:,1)./600; 2605rps=data(:,1); 2606 2607%convert time from us to s 2608data(:,2)=data(:,2)./1e6; 2609time=data(:,2); 2610 2611%rpm 2612rpm=rps(:,1).*60; 2613 2614% time start from zero 2615time=time-min(time); 2616newdata=[time,rpm]; 2617 2618plot(time,rpm); 2619
all libraries
markdown
all libraries you need to import it.
1#include <Wire.h> 2#include <LiquidCrystal_I2C.h> 3#include <PID_v1.h> 4#include <FreqMeasure.h> 5#include <Adafruit_INA219.h> 6#include <FreqMeasure.h>
results of parameters estimation.
markdown
this is estimation values of our dc motor after applied nonlinear least square method from matlab.
1from estimation of parameter of dc motor : 2 3B=1.5319e-04; 4J=1.2130e-05; 5K=0.0034; 6L=0.0127; 7R=0.0710; 8 9
Downloadable files
Image of Circuit diagram
Image of Circuit diagram
Circuit diagram
Circuit diagram
Image of Circuit diagram
Image of Circuit diagram
Circuit diagram
Circuit diagram
Documentation
motor base
motor base
2D enclosure box
Acrylic 5mm thick
2D enclosure box
encoder base
encoder base
2D enclosure box
Acrylic 5mm thick
2D enclosure box
encoder base
encoder base
motor base
motor base
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