FRC | PartQuest™ Explore

Member of the PartQuest Explore Development Team. Focused on modeling and simulation of analog, mixed-signal and multi-discipline systems covering a broad range of applications, including power electronics, controls and mechatronic systems.

Copy of PID Speed Control Loop - Switching - on Mon, 01/27/2020 - 21:01

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5 years 10 months

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Description

This example shows a more detailed circuit- and logic-level implementation of the PID Control Loop shown in the companion example, “PID Speed Control Loop – Continuous”. The ideal motor drive block of the “Continuous” version is expanded here, to include both a H-bridge motor drive, and also the digital logic necessary for converting the continuous PID controller output into the desired PWM signals that are distributed to drive the gates of the power MOSFET switches. The MOSFET model was calibrated to represent an IRF3710, using only information published on the manufacturer’s datasheet.The rest of the system, including the PID block-diagram controller, the mechanical fan load and the DC Motor characterized to represent an FRC (First Robotics Competition) CIM Motor, are the same as in the Continuous version. While the simulation time for this switching version is significantly longer, more detailed information about practical circuit performance and component sizing is available. For example, the fan speed step response is somewhat different from the conceptual design, because of the losses in the MOSFETs under high current conditions, as well as voltage drop in the battery. Also, information regarding component stress levels within the “datasheet specified” MOSFETs and Diodes is provided.

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FRC Falcon500 with load

Designer10

Member for

12 years

623

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Big fan of VHDL-AMS

FRC Motor speed control with TalonFX

Designer10

Member for

12 years

623

designs

10

groups

Big fan of VHDL-AMS

FRC Flywheel

Designer179541

Member for

7 years 10 months

28

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PID Speed Control Loop - Switching

Designer227945

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5 years 11 months

8

designs

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Description

This example shows a more detailed circuit- and logic-level implementation of the PID Control Loop shown in the companion example, “PID Speed Control Loop – Continuous”. The ideal motor drive block of the “Continuous” version is expanded here, to include both a H-bridge motor drive, and also the digital logic necessary for converting the continuous PID controller output into the desired PWM signals that are distributed to drive the gates of the power MOSFET switches. The MOSFET model was calibrated to represent an IRF3710, using only information published on the manufacturer’s datasheet.The rest of the system, including the PID block-diagram controller, the mechanical fan load and the DC Motor characterized to represent an FRC (First Robotics Competition) CIM Motor, are the same as in the Continuous version. While the simulation time for this switching version is significantly longer, more detailed information about practical circuit performance and component sizing is available. For example, the fan speed step response is somewhat different from the conceptual design, because of the losses in the MOSFETs under high current conditions, as well as voltage drop in the battery. Also, information regarding component stress levels within the “datasheet specified” MOSFETs and Diodes is provided.

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PID Speed Control Loop - Continuous

Designer227945

Member for

5 years 11 months

8

designs

1

groups

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Description

This example shows a concept development phase version of a fan speed control loop. It uses a PID-based (Proportional, Integral and Derivative) control strategy, with continuous block-diagram representation for both the controller and the voltage drive for the DC motor. The motor, which is characterized to represent an FRC (First Robotics Competition) CIM Motor, and the attached mechanical fan load, use a conservation-based modeling approach. Both the static and dynamic interaction characteristics “emerge” naturally from the model, simply because they are “connected” on the schematic. This approach to system modeling is much like assembling a hardware prototype, and does not require the user to develop an analytical model of the “plant” being controlled. Additional external electrical circuit components, mechanical loads and other “physical” elements can easily be added by simply placing them on the schematic and “wiring” them together. In fact, a more detailed implementation of the motor drive is shown in the companion example, “PID Speed Control Loop – Switching”. In that example, a design for the logic and power electronics needed to implement a PWM-based, switched MOSFET H-bridge drive is included.Because this version simulates very quickly compared to the switching version, it is well suited for early concept validation of the control strategy and PID tuning, loop stability and frequency response analysis, etc.

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