Real-Time Speed Control of a DC Motor using Open Source Code
Contents
1. c Copy Kove Sours Undo Palette may be used to copy blocks o regions f Flip Open Set 5 Save Get Info Replot ane Counter T ia Modai 3 rF P aavtooth g M matn Gaooh Link Quit Fig 6 RTAI Super block A aiku BCIE milb i i mellsh4 1 1 bollab Cortin Limia Enea Fila Control Demce Graphic Hiru i i Halp Ector aaa rR aaa ak o Lx Click to open block or maka a Link Diagran Edit Simulate Object Kisel RIAL stael Copyright fc 193 2007 Coraortiun Beilas IRIA EMPC Soertip motion loading initia environa acces Aleit al dob l iis GLLak to pee bloh oe maka a LUK Arsa Edit Es Sass iee RTI Paletier aay be uted to copy blocks or regions COHILI Sine r E oes PMC Hii Spaai 7 m Square s TER MER Gen stip Sip Ja fama ape i Fig 7 Inside of Super block extiata ev p CaMEDL DS test dat E WIX canw CH i i B Checkout of RT signal through X rtailab and type e peek p E p Fifoont a Os C illos cope Now going to the RTAT menu select Set Target and click over super block Now we have to compile using Fig 4 RTAI Lib palette RTAI Code gen again through menu RTAI If compilation is properly done then on the scilab prompt a group of information will come with the lat line Created Meron fate Stee Goes rua N E aus Executable as in Fig 8 5 tdbk E2. Hmoeed alinka Click to pen blok o rehe a link sent Ete sev art Hof WD ve aplish i 1 eoilao d 1 1 Salle Corcrtiun neds Enpo File Comtrol Dene Graphic Wircbe iioi Help Ector scilab d 4 1 Copyright c 1963 2007 Consortium Scilab IHRIA EMFC Startup execution loading initial environment 3 601 Cos cp fusrfrealtimessherefrtai scicos rtmain c ace 0 DNDEBUG Dlinux OHARROWFROTO 0_ CHU SOURCE D2 T uaracilas 4 1 1 routines I Liuererealtimes include OF L uersercelinugsincl ude Wall Wetrict prototypes pipe L uar realtine inclucefacions D W DEL Urtitled DMOODELW Untitled c o rtmain o rtmain c gcc 0 OHIEBUG Dlinux ONARROWPROTO 0O_GHU_SOLRCE 02 Lfusr scilsb 4 1 d routings I I us renltinsimlude 02 fuer erc linux incl ude Wall Wetrict rototypes pipe Iuar realtinerincluderacicos O KODEL Urtitled UNDBELNeLitti ted c sc 0 Urtitled_Chlocks a Untitle d_Cblacka c Bcc static o Untitled rtnain o Untitled_Cblocke o fusr scilah 4 Li libefacicoe a ruer ecilab 4 1 irlibafpoly a fuereecilab 4 1 4 11 be calelm a Uer ecilab 4 1 1711060 pl3 3 fuercfecllab 4 1 1 libe la cha usraci lab 4 1 1 Tibe oespecific a fusr realtime Libelibeciblk va fuer real time libs liblart a lpthread ln SHH Crostod executable Untitled w Fig 5 Making of RTAI Super block Fig 8 Compilation Information 360 Real Time Speed Control of a DC Motor using Open Source Code Tools Le
3. asz GND Fig 1 dc motor driver electronics 359 3 Data Acquisition Card A data acquisition card plugs directly into a personal computer s bus All the power required for the A D converter and associated interface components on the data acquisition card is obtained directly from the PC bus For the presented work RTAI with COMEDI provides a built in graphical tools and libraries for data acquisition and analysis Advantech PCI 1711 data acquisition card is used which is a powerful and multifunction cards for the PCI bus and supported by COMEDI library IV EXPERIMENTATION A Creating block diagram for Square wave generation Open the TERMINAL and type scilab it will open scilab window and in the scilab window type scicos and it will open untitled window shown in Fig 2 Then open menu edit and Select palettes In the Palettes select Sources at the top of the pop up window 7 8 This will open a window with a group of source blocks as shown in Fig 3 Take the red clock on the Scicos diagram page Open the RTAI Lib palette in a similar way as before and it will look like Fig 4 From the RTAI Lib palette take the Square block Scope block amp COMEDI D A block and place it in the main Scicos window Connect those blocks After drawing the Block diagram we should make the super block So we should go to menu Diagram and select Region to super block Cover a
4. Cancel yf Ok Haul Fig 10 xrtailab Interface 361 KARAN Graphical User intertace Eile View Help da saaa ETa a Perens Mungga zi Upload Help owe Scopes Manager E Gonen Trace e Shohida Unisi fi Trate Color Options Q Trate Offeal Trac Fig 12 Square wave in the Oscilloscope C Real time speed control of dc motor using PWM Pulse width modulation PWM or duty cycle variation methods are commonly used in speed control of DC motors The duty cycle is defined as the percentage of digital high to digital low plus digital high pulse width during a PWM period i e PWM the output voltage is the average of the supplied voltage over ON OFF time Vav V5 D Ton V5 TontT ott When V average voltage D duty cycle V Supply Voltage T On time of the signal T Off time of the Signal Controlling the period T T or and on time Ton of input pulses the speed of the dc motor can be controlled as the dc motor speed varies with the variation of the average amplitude of input voltage to it Steps to control the dc motor are as follows e Generate a real time square wave Sec IV e Take that output signal from DAQ e Fed that signal to the input section of a DC motor driver Sec III e Connect the DC motor driver output to the input of DC motor SEC III International Journal of Soft Computing and Engineering IJSCE e Change the parameters on t
5. Scilab Scicos and RTAI with COMEDI can successfully replace the costly commercial alternatives for teaching and learning Real Time Systems REFERENCES 1 R Bucher and L Dozio Paolo Mantegazza Rapid Control Prototyping with Scilab Scicos and Linux RTAT The Vlsi Journal 2004 pp 739 744 2 J Jang C K Ahn S Han and W H Kwon Rapid Control Prototyping for Robot Soccer System using SIMTool in ProcSICE ICASE International Joint Conference 2006 Busan Korea Oct 2006 vol 2 pp 3035 3039 3 R Bucher and L Dozio CACSD with Linux RTAI and RTAI Lab in Real Time Linux Workshop Valencia 2003 4 Giovanni Racciu and Paolo Mantegazza RTAI 3 3 User Manual 2006 URL www rtai org 5 RTAI Lab Tutorial by Roberto Bucher Simone Mannori and Thomas Netter 2006 6 Ramine Nikoukhah and Serge Steer SCICOS A Dynamic System Builder and Simulator User s Guide 1998 http www scilabsoft inria fr doc scicos scicos htm 362 ISSN 2231 2307 Volume 2 Issue 6 January 2013 7 Stephen L Campbell Jean Philippe Chancelier and Ramine Nikoukhah Modeling and Simulation in Scilab Scicos Springer Berlin Germany 2006 URL www scicos org 8 Roberto Bucher and Silvano Balemi Scilab Scicos and Linux RTAI A unified approach 2005 IEEE Conference on Control Applications Toronto Canada August 28 31 2005 Ujjwal Mondal b 1977 received his B Tech degree in Electronics amp Instrumen
6. circuit Data Acquisition Card DAQ Ce a B Softwares or Codes 1 Operating System Functional GNU Linux environment better with a Debian or a Debian like e g Ubuntu distribution 2 A Kernel it is necessary to ensure the best when the kernel version of the Linux OS is as close as possible to the kernel we are going to compile and to merge with the RTAI 3 RTAI source code 4 Scilab source code 5 COMEDI and COMEDI LIB source Another two supporting source codes are required to install First one is Mesa 3D graphical library from and second one is the EFLTK graphic widgets library Some software packages may have to upgrade and those are Automake autoconf bison for comedi cpp ftgl dev for efltk gcc g77 g gtk libbind libglul mesa dev libglut dev libfltk libgtk dev libdrm dev libncurses libperl dev mesa_ related all packages tcl8 4 tk8 4 tcl 8 4 dev tk8 4 dev tcllib 1 9 x11 proto HI DEVELOPMENT PROCESS A Software development process in steps 1 Operating System Functional GNU Linux environment experimented with Ubuntu 6 06 Real Time Speed Control of a DC Motor using Open Source Code Tools 2 Unpacking of kernel and RTAI source codes in the directory usr src in the installed Linux To ensure the best performance the kernel version we are going to compile and to merge with the RTAI should be as close as possible to the kernel version of the Linux OS 3
7. International Journal of Soft Computing and Engineering IJSCE ISSN 2231 2307 Volume 2 Issue 6 January 2013 Real Time Speed Control of a DC Motor using Open Source Code Tools Ujjwal Mondal Parthasarathi Satvaya Sourav Kumar Das Abstract The presented work envisaged to explore the possibility of developing ultra low cost experimental setup for teaching and learning Real Time systems The presented work demonstrates in steps the development of a real time control system with free open source code softwares The free suite utilized and experimented within the present work composed by Linux operating system and the Real Time Application Interface RTAI add on the Scilab Computer Aided Control System Design CACSD software and the Control amp Measurement Device Interface COMEDI drivers Scilab Scicos a free scientific software package for numerical computations and control system simulation is used with RTAI to provide hard real time extensions in to Linux environment The development and deployment platform are the same and consisted of the i Linux ti Scilab Scicos iii RTAI and iv COMED I drivers running in a PC The investment is reduced to the hardware as well as in software cost which consists of a standard PC dc motor and a COMEDI compatible acquisition board The most obvious advantage of the proposed solution is that all the software or codes are free amp available in the web The whole idea is demonstrated
8. Patching of the HAL or ADEOS over the kernel under configuration 4 Configuring the kernel for real time applications 5 Compilation and Installation of the newly configured kernel 6 Updating of the boot loader to access newly installed kernel Mesa and EFLTK installation Installation of COMEDI and COMEDI LIB Configuration compilation and Installation of RTAI 0 Installation of Scilab amp RTAI add on to it 6 1 Creating shared memory inodes for the activation of RTAI and COMEDI 12 Loading RTAI COMEDI and DAQ modules Gee ak oes B Hardware development process 1 DC Motor Specifications A dc motor is taken for real time experimentation purpose with following details Model name RF 500TB 12560 Voltage Operating range 6 volts to 12 volts Nominal 12 volts constant At No load Speed 5600 rpm Current 0 03 amp At maximum efficiency Speed 4653 rpm Current 0 11 amp Torque 18 g cm 1 76 mN m Efficiency 67 At stall Current 0 6A Torque 12 g cm 11 76 mN m 2 DC Motor Driver Electronics As a digital driver of the dc motor model RF 500TB 12560 we have taken L293D push pull four channel driver A little modification is done in the input section For the safety of data acquisition card and PC Optocoupler PC817 is used in the input section to keep Data Acquisition Card and dc motor driver circuitry optically coupled or isolated from direct contact Fig 1 Enable DAQ OP Chip enable 5V
9. amp Advanced Control Systems At present He is an assistant professor Electrical Engineering Haldia Institute Technology Haldia and West Bengal India
10. by real time speed control of a dc motor using Pulse Width Modulation PWM Index Terms RTAI CACSD COMEDI SCILAB SCICOS PWM I INTRODUCTION Rapid Control Prototyping RCP requires two components 1 2 Viz Computer Aided Control System Design CACSD software and a dedicated hardware with a hard real time operating environment Popular amp widespread RCP environments are based on the commercial software Matlab Simulink Realtime Workshop RTW Real Time Windows Target RTWT CACSD software or LABVIEW which can be used to generate and compile codes for different targets The main disadvantage of this solution is the cost of the software The proposed solution overcomes the said problem as it can be freely downloaded from the web Development system is based on Scilab Scicos and Linux RTAI a hard real time extension of the Linux operating system 3 This environment allows to quickly creating real time controllers for real plants by generating and compiling the full control application directly from the Scicos scheme A real time system must respond to a signal event or request fast enough to satisfy some time constraints with extreme reliability In order to get a real time eration a standard kernel must be configured in a Linux base and before this configuration it will include the patching of Hardware Abstraction Layer Manuscript received on January 2013 Ujjwal Mondal Department of Applied Electronics amp Instru
11. he fly in xrtailab interface Fig 11 e Choose the source block parameter and set values as Val 0 1 amplitude of pulses Val 1 0 0009 Ton Tor Period of pulse Val 2 0 0002 Ton Now varying Val 2 0 0002 to 0 0009 Pulse Width Modulation on the fly speed of the motor can be changed It has been successfully experimented and variation in speed of the motor is observed The dc motor with following details is connected to the driving circuit Supply voltage to driver circuit 5V Voltage across motor 5 volts Current 0 03 amps Short circuit current 0 5 amps A set of results is tabulated in Table 1 TABLE 1 Voltage across motor V Current through motor A Duty cycle Table 1 Parameters reading during RT control of de motor V CONCLUSIONS Successful implementation of the real time system development and deployment were demonstrated by Speed Control of a DC Motor using Pulse Width Modulation The advantage of the proposed solution is that all the softwares are freely available on the web However unlike the costly commercial packages the information available about these free softwares is scanty or sometimes confusing The contribution of this work is the attempt to remove some of the difficulties by tracing through the development steps and pitfalls In conclusion this paper shows that with some adjustments and moderate additional effort control system designing tools
12. ll the blocks excluding the Clock and dragging the mouse i e we must draw an elastic frame around all the blocks as in Fig 5 and it will make the required super block as shown in Fig 6 Double clicking on the super block we can again open those basic blocks to set parameters as shown in Fig 7 e Set parameters of Super blocks Square block Val 0 amplitude 1 Val 1 time period 1 and Val 2 On time 0 5 amp leave other parameter to default value Comedi block Keep default value channel 0 Scope block Keep default value e Close the window and set clock parameter Clock Set Period 0 001 and Init Time 0 Connect the analog output Channel 0 and analog ground of the signal acquisition card to a real oscilloscope For example with the advantech PCI 1711 DAQ card connect pins 58 DACOOUT and 57 AOGND Fig 2 Scicos Interface International Journal of Soft Computing and Engineering IJSCE ISSN 2231 2307 Volume 2 Issue 6 January 2013 Oo umiei oa oll 5 o scilex o Click to open block or male a link ecilab 1 1 scilebrd 1 1 Scilsb Consortium Inris Enec Diara Edit Simulate Object Hise RIAL ssc File Controll Demos Graphic Hindow 1000 Hele Editor loading initial environment gt scicos Align Delete E United r PR Click to open block or make a Link tee Diara Edit Simslata ject Misc RIAL atoe
13. mentation Engineering RCC Institute of Information Technology Kolkata India Parthasarathi Satvaya Department of Electrical Engineering Haldia Institute of Technology Haldia India Sourav Kumar Das Department of Electrical Engineering Haldia Institute of Technology Haldia India 358 HAL or Adaptive Domain Environment for Operating Systems ADEOS with the kernel After patching and configuring the kernel to make it real time compatible installation of the RTAI package must be carried out including rtai lab and comedi After this whole process a set of kernel modules are created in the user specified directory usr realtime Loading these modules the real time functionality is obtained 4 In this stage keeping the entire previous configuration we should include COMEDI support over RTAI The RTAI package with rtai lab and COMEDI can be access through Scilab when RTAI with COMEDI add ons to Scilab and loads COMEDI modules Scilab Scicos gives the GUI to make RT simulation and as well as to generate codes and executable for RT operation 5 In our experiments a COMEDI supported DAQ card is taken to set the RT target Running the created RT executable in a Linux terminal we can observe the RT simulated signal through a CRO Farther work may be the generating of RT control signal for a small plant Il DEVELOPMENT SYSTEMS A Hardware A P4 or equivalent processor Minimum 512MB RAM DC motor Driver electronics
14. t the new executable is renamed as rt square and saved in the current directory e In one terminal type rt_square v to run the executable in Hard RTS mode with verbose output as in Fig 9 e In another terminal type xrtailab to open a GUI amp from File menu select Connect and it will give the option to set the target Click on OK as shown in Fig 10 e A square wavelike wave form can be seen on the Oscilloscope In xrtailab going to View select parameters and scope Now visualization parameters can be adjusted in the xrtailab to see the square wave properly in to the oscilloscope as shown in Fig 11 12 Fla Edt wiaw Terminal Taba Hale juju dasktop scilab juju dasktop Warning Miesing charsets in String to FontSet conversion Warning Unable to load amy usable fonteat yun u dadttop Limttitlad T Target settings Raal tima HARD Timing antarmal periodic Priority O Finaltime AUN FOREVER ump f TARGET STARTS Model Untitled Executes on CPU map f Semplang time 1 02000 e 01 3 Target is running Fig 9 Running the Executable a juijudhenktop JE AA DA aea eae a ee Ele Vior Ha i oaas aa 0 aagaraaa COMIECL LO Tdi EL ADDI P Ades IFTASK Task Idertier me Saope ldortificr A Log Identifier RAL ALog Identtier HTE Lod Idoritfior RTM Meter Identifier ATY aynch Identifier HE
15. tation Engineering from University of Kalyani West Bengal India in 2005 the M E degree in Control Systems from Jadavpur University West Bengal India in 2008 His research interests include Real Time Systems Electronic Instrumentation Wavelet based system analysis amp Repetitive Control At present He is an assistant professor Applied Electronics amp Instrumentation Engineering RCC Institute of Information Technology Kolkata and West Bengal India Parthasarathi Satvaya b 1985 received his B Tech degree in Electronics amp Instrumentation Engineering from Bankura Unnayani Institute of Engineering West Bengal University of Technology West Bengal India in 2006 the M E degree in Illumination Engineering from Jadavpur University West Bengal India in 2008 His research interests include Smart Lighting Real Time Systems Electronic Instrumentation At present He is an Assistant Professor Department of Electrical Engineering Haldia Institute Technology Haldia and West Bengal India A Sourav Kumar Das b 1984 received his B Tech degree in Electronics amp Communication Engineering from Dumkal Institute of Engineering amp Technology under West Bengal University of Technology West Bengal India in 2006 the M E degree in Control Systems from Bengal Engineering amp Science University Shibpur West Bengal India in 2009 His research interests include Real Time Systems Power Electronics DSP
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