DC Motor Position Control with FOPID Controller by Using Embedded System

Abstract

Control of dynamic systems consists of two schemes. The first is to create dynamic system elements, and the second is to design a suitable controller for this system to meet the desired specifications. A commonly used actuator in control systems is the DC motor. It provides direct rotational motion or, when combined with drums and cables, translational motion. The DC motor, which is employed to drive many electromechanical systems, serves as the dynamic system. Feedback servo systems, known for their precise angled positions and rapid response, will be the focus of this discussion, specifically in modeling and position control of a local DC motor. To begin, the DC motor/load system feedback model is meticulously arranged in the MATLAB/Simulink program. Subsequently, the Simulink program is loaded onto the Raspberry Pi card, and the circuit's position control is executed. Achieving precise motor positioning requires resetting the position error when a motor with a reference command value is measured. Additionally, there is a desire to reset the unblocking state fault resulting from a permanent blockage. Other performance data indicates extremely fast response times without overshooting the fault. A fractional-order Proportional-Integral controller has been designed to facilitate position control of these components and the DC motor. The controller coefficients have been chosen manually.