Development of a Test Rig for Modelling, Analysis and Control of DC motors

Project Title

Development of a Test Rig for Modelling, Analysis and Control of DC motors

Project Area of Specialization Electrical/Electronic EngineeringProject Summary

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.

So that’s why we are going top design a test rig for the dc motor where any person perform a practical related to the dc motor like (motor parameter identification, impulse and step response controller implementation, position control implementation

Project Objectives

•The main objective of this project is to design a test rig.

• That provides an efficient methods to identifying motor parameters and perfom the diifferent practical related to the control system.

•Check the behavior of the motor using position control implementation.

Project Implementation Method

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

Benefits of the Project

•Combine all the methods related to the DC motor in one gadget.

•Perform Lab  practical to real time data analysis and find the currect behaviour of the DC motor.

•Environment in which you communicate to MATLAB, Python and DC motor Serially and simultaneously.

Technical Details of Final Deliverable

Test Rig is like electrical box Where any person fit there own DC motor to perform desired practical and verifay the real time data analysis and also check the behavor of there motor according to there own usage 

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

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	26200
ESP32	Equipment	2	1000	2000
DC Motor	Equipment	2	700	1400
Motor Driver	Equipment	2	300	600
Magnetic Encoder Magnetic	Equipment	2	350	700
3D printing	Miscellaneous	1	4000	4000
pcb	Equipment	5	1500	7500
wires pins etc	Equipment	20	500	10000