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Lab_3- BLDC2020_signed

The document outlines the objectives, equipment, and procedures for a laboratory session focused on controlling a Brushless DC (BLDC) motor using feedback mechanisms. It includes detailed steps for creating a closed-loop model in Simulink, evaluating positioning accuracy, and recording measurements with specific feedback devices. Safety precautions and the importance of proper equipment setup are emphasized throughout the lab manual.

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chunkychendy
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13 views

Lab_3- BLDC2020_signed

The document outlines the objectives, equipment, and procedures for a laboratory session focused on controlling a Brushless DC (BLDC) motor using feedback mechanisms. It includes detailed steps for creating a closed-loop model in Simulink, evaluating positioning accuracy, and recording measurements with specific feedback devices. Safety precautions and the importance of proper equipment setup are emphasized throughout the lab manual.

Uploaded by

chunkychendy
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Western University

Mechatronic Systems Engineering Program


MSE3302 - Sensors and Actuators

BLDC Laboratory
6 Laboratory #3: BLDC Motor Control

6.1 Objectives
• To investigate the control of the BLDC motor under different forms of feedback.

6.2 Equipment
• MSE Arduino Prototyping Kit (built in MSE2202):
o Assembled MSEduino microcontroller board
o Modular solderless breadboard (mounted on MSEduino)
o USB-A to USB-micro cable
• PC with Arduino IDE
• Software posted on OWL: Arduino program Lab3bldc
• Brushless DC motor BL17B17-03
• MSE Delta “3D printer” with HEDS-5645 G13 encoder
• LVDT LD320-50 and LVDT signal conditioning board
• Power supply, BK Precision 1672
• Power control board
• Safety glasses – IMPORTANT: you must wear the safety glasses at all times during this lab
session. You will be asked to leave the room if you fail to wear them and you will receive a
zero in the corresponding lab report.

6.3 Description
In this lab, we investigate the operating characteristics for a permanent magnet brushless DC
motor. Then you will need to assess the performance of closed loop positioning.
The supplied Arduino program utilizes the serial monitor of the Arduino IDE to issue commands
to the program while it is running. The menu of commands is given in the program listing under
Serialmonitor.ino. Commands in the procedure are shown in [ ] brackets.

6.4 Procedure

6.4.1 Simulink model


Using the motor, encoder and the LVDT data sheets posted on the course website and the parameters
shown in the table below, create a closed loop model of the actuator/sensor system, following the
steps below:
1. Compute the motor transfer function.
2. Compute the transfer functions for the LVDT and the encoder. You will perform the steps
below for each of the sensors as the feedback sensor.

2019-02-28
MSE3302 – Lab Manual 2 of 7

3. Create a Simulink model using these transfer functions and include any other information
from the data sheets that can be included.
4. Use the Simulink tool of your choice to determine the appropriate gains for a PID controller
to achieve zero steady state error for a ramp input. It will be implemented in the Arduino
program using the function controllerSetLawConstants. NOTE: the actuator input in
the Arduino program is specified as the fraction of the maximum input value, so a 24 V motor
input corresponds to an input of 1.0.
Table 6.1: Model Parameters

Parameter Value
Leadscrew length 132 mm
Leadscrew diameter 0.375 in (9.525 mm)
Leadscrew pitch 0.5 in/rev (12.7 mm/rev)
Mass 116.2 g (carriage) / 427.2 g (printer head)
Sampling time 500 µs

6.4.2 Experimental Setup


Confirm that the LVDT is mounted on the MSE Delta “3D printer” as shown in Figure 6.1. Ensure that
you are using the same LVDT as in the previous labs. Ensure that the motor driver and the encoder
are connected to the shield and connect the power supply to the shield and the LVDT signal
conditioning board as shown in Figure 6.2. Do NOT touch any of the jumpers on the right side of the
shield. Have the TA confirm the correct connections prior to proceeding.

6.4.3 Evaluate Closed Loop Positioning Accuracy


1. Update the Arduino program to controller 1 with your values for fLVDTSensitivity and
fLVDTOffset as well as the controller constants kp, ki, kd, and T. Make sure the serial
monitor is set to 115200 baud.
2. Set the power supply to 24 V and 1.5 A. Connect to the power board/LVDT and turn on.
3. ENSURE THAT THE LVDT INCREASES IN THE SAME DIRECTION AS THE ENCODER. You may
need to modify your fLVDTSensitivity and fLVDTOffset to fix this.
4. With the leadscrew nut separated from the carriage (and taped down as shown in Figure 6.3),
test that the motor is running properly, and that the system will not go unstable. Do this by setting
the PWM level to 20% [8,0.2] and making sure the motor spins.
5. Ensure the encoder is set to be the feedback sensor (use [7] to toggle between encoder and
LVDT). Zero the encoder [11] and the LVDT [12], and turn on Controller 2 [2,2]. Adjust the set
point [3,<val>] to +10 or -10 to ensure the controller is working properly. You should see the
motor spin until it reaches the setpoint value (within a threshold) then stop. If there is any sign
of instability, check with the TA before proceeding. If it seems to be running properly, disable
the motor and proceed.
6. Reattach the leadscrew nut to the carriage and remove the masking tape.
7. Move the carriage to the center of the leadscrew.
MSE3302 – Lab Manual 3 of 7

8. Zero the encoder [11] and the LVDT [12] before starting.
9. Turn on Controller 2 [2,2].
10. Adjust the set point [3,<val>] to the different positions along the stroke listed in the LMS and
adjust the gain [5,<val>] and the threshold [6,<val>] to achieve stable operation. Record the gain
and threshold in Table 6.2. Record the actual position in Table 6.3.
11. Adjust the set point to 0 mm [3,0].
12. Set the feedback device to the LVDT [7] and repeat steps 7 to 10 above.
13. Comment on the accuracy and repeatability of the positioning system using the encoder and
LVDT as feedback devices in the LMS.

Figure 6.1: MSE Delta “3D Printer” showing BLDC motor, encoder and LVDT placement.

Figure 6.2: MSE shield showing the locations of the connections for the motor cable, the encoder and
the LVDT.
MSE3302 – Lab Manual 4 of 7

Figure 6.3: MSE Delta “3D Printer” showing the leadscrew nut disengaged and wrapped with
masking tape.
MSE3302 – Lab Manual 5 of 7

6.5 LAB MEASUREMENTS SHEET


Name Name

NOTE: Questions are related to observations, and must be answered as a part of the procedure
of this experiment.

6.5.1 Simulink model


Draw the Simulink model and include all calculations of the values included in the model.
MSE3302 – Lab Manual 6 of 7

6.5.2 Closed Loop Positioning Accuracy


Table 6.2: Controller Gain and Threshold

Feedback Device Gain Threshold


Encoder
LVDT

Table 6.3: Step Command Performance

Measured Position (mm)


Commanded Position (mm)
Encoder LVDT
-20
-10
0
+10
+20

Comment on the accuracy of the positioning system using the encoder and LVDT as feedback devices
and compare your findings with the calculated resolution values from the simulated model. What
factors prevent the threshold from being reduced for the encoder and for the LVDT?
MSE3302 – Lab Manual 7 of 7

6.5.3 SIGNATURES
To be signed by TA during the lab session.

Task Max. Marks Granted Marks

Simulink model completed TA Signature

BLDC circuit checked TA Signature


Data collected and observations
100
made
TOTAL MARKS 100
Final marking to be completed by TA after the lab session.

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