DC Motor Speed Control with PID Back to project overview In this project it is aimed to speed control a standard Pololu DC motor with encoder using software based PID controller @ 02a Enainogiu Description Files! Components? Logs? Instructions® Discussion ® «Back to project details SORT BY: Oldest ¥ Fundementals 05/23/2016 at 12:41 + 0 comments Standard DC motors without encoders have just two cables (terminals) to drive the motor. These terminals are used for creating a voltage difference which is directly related to motor speed. The shaft rotation speed is increased if the voltage difference between terminals are increased or vice versa. By inverting the applied voltage to these connections, itis possible to drive the motor in the opposite direction, But unfortunately, the relation between the applied voltage and the speed is not linear and the output of the shaft rotation is unpredictable due to various reasons such as a torque applied to the shaft. In such case shaft rotation speed is reduced even though the voltage stays same. So its clear that the speed of the motor doesn't only depend on the voltage but also to the environmental conditions, puhe If speed control of a DC motor is desired, another sensor called encoder is required to g} actual position and thereby speed of the shaft rotation. These information is then used to compare and if necessary correct th: speed of the de motor Pololu DC motor with Encoder that i've used in this project is as shown in the picture below. Full Nome: 30:1 Metal Gearmotor 37Dx52L mm with 64 CPR Encoder (0:1 and a shaft with a diameter of 37 mm. d to the motor shaft is 64 Cycles Per Revolution (CPR). und the output of the encoder counts up to 64. shaftis different than th shaft and as 1 these shafts is 30:1. So if motor shaft turns 30 elation is considered; the cycles per revolution of the This motor has a metal gearbox with a ratio Resolutl the encoder that is assemb This means that if the motor shaft turn: But itis important to notice that th the ratio of rotation betw mentioned befor times, gearbox shaft turns just 1 time. If this gearbox shaft can be calculated with the following formula: and it is equal to 30 * 64 = 1920 CPR. The gearbox output resolution (1920 CPR) is of great importance in this project because itis the only feedback we get from the DC motor and using this feedback we shall acquire position and speed variables to be used in PID control which will be explained in detail later: Just like almost all complex projects, we should always prefer going through the project step by step to prevent any unknown behaviour output from the system. For this project, the steps 1am planning to follow are listed below. Encoder DC Motor + Motor Driver + Enc: PID + DC Motor + Motor Driver + Ence erStep 1 - Encoder (05/23/2016 at 12:43 + 0 comments In this step, itis aimed to co! nd check if it is functioning pro} Duld 1920 only one turr motor by hand. Luckily, pin diagram of the en¢ y ’ min the tabl c unctio Ri 1 motor terminal Black > the other motor terminal er encoder GND Bh encoder Vec (3.5 - 20 V) Yellow ncoder A output White ncoder B output Motor power pins w sed ut the other four pins are necesse ncoder to function properly. Encoder GND and Vcc pins are used to ncoder A and B pins a > get fi ck from the encoder. Greer > Arc in anc >utput whic mportant to selec Ifthe interrug e pil dbefirst and continue, After a at that moment and g 4 ratever it's Boare Digital Pins Usable For Inte’ Uno, Nano, Mini, other 328-based 2,3 Mega, Mega2560, MegaA\ Micro, L MKR1000 Rev so the pinsi In this proje these | preferred 18 and 19, Sol connected encoder output A digital pin 19. Pin connections of the encode > terminal connections a entionally le igure motor power motor power encoder ND encoder Vee tncoder A output ig encoder B Guta Encoder fritzingony 4 AboutUs ContactHackadayio Give Feedback Terms of Use PrivacyPolicy_ Hackaday API ) 2017 Hackaday