2022‐01‐12
MATLAB tutorial
for mini project
Mohammad Najjarzadegan
Jan 2022
Outline
• Mini project brief explanation
• System level operation
• Implementation in MATLAB
• Motor Modeling
• For those who never worked with MATLAB/modeling
• Overview for those who took ELEC 341
• Simulation in Simulink
1
2022‐01‐12
Mini project
Mechanical load
Motor
Your computer
Microcontroller
Motor driver/amplifier
• Computer: MCU programming and command
• MCU: Digital controller
• Driver/Amplifier: Amplifies low voltage/current MCU signal
• Motor: Drives the mechanical load
• Mechanical load: Simply a pandelum
System level operation
Mechanical load
Motor
Your computer
Input
signal
Comp
Microcontroller
Controller
Motor driver/amplifier
Amplifier
Sensor
Mech & Motor
Position
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2022‐01‐12
Matlab/Simulink
• Matlab is mathematical language.
• Only understands numbers, equations and mathematical
operations.
• We need to model the physical units with mathematical blocks.
Modeling
• No Amplifier for the mini project.
• Sensor is Unity gain for mini project.
• Comparison is basically a subtraction.
• The controller is a P-controller, i.e. a constant gain .
• Input signal is a step-function from 0 to 90.
• Model Motor&Mech is the challenging part.
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2022‐01‐12
Motor modeling
• Motors have some windings in their
rotor/stator.
• Winding produces magnetic field and acts as an inductor.
• The wires also have some resistance.
• Flux proportional to current and torque proportional to flux.
• Back emf proportional to speed and against the input voltage.
Motor modeling
𝑰
𝝉
𝝎
𝑽
𝑽𝒃𝒆𝒎𝒇
𝑳𝒔 𝑹
𝑲𝒎 𝑰
𝝉
𝑱𝒔
𝑽𝒃𝒆𝒎𝒇
𝑩
𝑲𝒂 𝝎
4
2022‐01‐12
Datasheet
1183
626.2
Km = Ka
*10^(‐7)
Implementation in Simulink
• Input step function
• Constant gain
• Transfer function
• Subtraction
• Scope
5