Control Pid Con Matlab De Un Motor Brushless

Oludayo John Oguntoyinbo

PID CONTROL OF BRUSHLESS DC
MOTOR AND ROBOT TRAJECTORY
PLANNING AND SIMULATION WITH
MATLAB®/SIMULINK®

Technology and Communication
2009

ACKNOWLEDGEMENTS
My sincere gratitude goes first to my Creator. Though it has been such a journey
academically, He has been my Sufficiency and my Help in times of need. “He
knows me well”
Mr and Mrs Oguntoyinbo, myparents, deserve all the credit for their support both
in kind and in cash; they have been there all through my life voyage prayerfully
for me. Their patience is greatly appreciated.
To my supervisor, his view that everything is simple still amazes me even when
the “stuffs” are serious nuts to crack. I am grateful for his service.
To my technical friends, Ifeta Adekunle and Frej, your technicalsupports are
worthy of appreciation. You made a part of my story.
To my friends and personal friend, you are worthy of my kudos.
Thank you!

Oludayo Oguntoyinbo
December, 2009

VAASAN AMMATTIKORKEAKOULU
UNIVERSITY OF APPLIED SCIENCES
Degree Programme of Information Technology

ABSTRACT

Author

Oludayo John Oguntoyinbo

Title

PID Control of Brushless DC Motor and RobotTrajectory

Planning

Simulation

with

MATLAB®/SIMULINK®
Year

2009

Language

English

Pages

90 + 0 Appendices

Name of Supervisor

Liu Yang

This report presents a PID model of a brushless dc (BLDC) motor and a robot
trajectory planning and simulation. A short description of the brushless dc motor
is given. For this work, mathematical models were developed and subsequentlyused in getting the simulation parameters. The PID model is accomplished with
the use of MATLAB®/SIMULINK®. The operational parameters of the specific
BLDC motor were modelled using the tuning methods which are used to develop
subsequent simulations. The best PID parameters were thereafter used for the
robot trajectory and simulation over a football pitch model.

Keywords

PID, BLDCmotor, MATLAB/SIMULINK

3

CONTENTS
ACKNOWLEDGEMENTS .................................................................................... 1
LIST OF FIGURES ................................................................................................ 5
LIST OF TABLES .................................................................................................. 7
ABBREVIATIONS AND SOMETERMS ............................................................ 8
1

INTRODUCTION .......................................................................................... 9

2

DC MOTOR .................................................................................................. 12
2.1

3

DC motors.............................................................................................. 12

DC MOTOR MODEL .................................................................................. 14
3.1

4

Mathematical model of a typical DC motor ........................................... 14

BRUSHLESS DC MOTOR AND MODEL CONCEPT .............................. 19
4.1

5

Mathematical model of a typical BLDC motor ...................................... 19Maxon EC 45 flat ∅45 mm, brushless DC motor................................... 22

MAXON BLDC MOTOR ............................................................................ 22
5.1

6

BLDC Maxon Motor Mathematical Model .................................................. 23

7

OPEN LOOP ANALYSIS OF THE MAXON MOTOR MODEL .............. 25
7.1
7.2

Open Loop Analysis using SIMULINK................................................. 29

8

Open Loop Analysis using MATLAB m-file .................................... 25

PID DESIGN CONCEPT ............................................................................. 32
8.1
8.2

PID controller design tips ....................................................................... 35

9

Some characteristics effects of...