Modeling of DC motor using MATLAB System Identification Toolbox and designing of PID controller

HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY
FACULTY OF ELECTRICAL & ELECTRONICS   
ENGINEERING
CASE STUDY REPORT
Project:
Fundamentals of Control Systems
Modeling of DC motor using 
MATLAB System Identification Toolbox 
and designing of PID controller
S iuperv sor:	
Assoc.Prof.Dr.	Huynh	Thai	Hoang
Contents
I. Introduction
II. Requirements and Block Diagram
III. Procedure for Modelling
IV. Conclusions 
V. References
Objective: Using MATLAB/Simulink tools for
modeling and control design of mechatronic systems.
We consider a DC Motor interfaced with Stellaris
Launchpad and a H-Bridge board using LM298.
The goal: To identif the transfer f nction of the DCy u
Motor and design/implement control to regulate the
speed of the DC motor.
C i h dD motor w t an enco er
Stellaris Launchpad (with LM4F120H5QR MCU) 
H-Bridge Motor Driver
H BRIDGE
STELLARIS 
 –  
MOTOR 
DRIVER
DC 
MOTOR
ENCODER
DATA 
ACQUISITION / PC
–
• Data Acquisition:
Input and output (I/O) data of the DC Motor is
captured on the host PC using the Stellaris
Simulink blockset.
• System Identification / Modeling:
System Identification Toolbox (SID) used to
obtain the transfer function (Time domain) of
DC motor platform using the captured I/O data
as the input to the SID toolbox.
• Controller Design:
Tune the parameters of the PID controller to control
the speed of the Simscape DC motor model in the
closed-loop structure.
• Rapid Prototyping:
Build/load the tuned PID controller into the Stellaris
platform, capture the I/O data, and verify the speed
response of the DC motor.
Using System identification toolbox, we can 
i h d l f h DC b iest mate t e mo e o t e motor y nput-output 
data. 
We design the PID controller base on estimated 
model and implement it in Stellaris LM4F120H5QR 
MCU in 2 ways and compare the performance of 
them. 
From the result, we conclude that the discrete PID 
controller implementation base on Z transform have 
better performance (no overshoot). Also, with the 
obtained transfer function we can implement other , 
algorithms to control the motor.
Arduino Platform for PMDC Motor Modeling &- 
Control using MATLAB/Simulink, Arduino Target 
Blockset & Other Mathworks Tools Arjun, - 
Shekar Sadahalli.
 com- . .
- 
THE END 
THANK YOU 
FOR YOUR ATTENTION