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Laboratory Implementation of Bang-Bang Controller-Based Motor Drive Module for Modeling and Control Courses

Abstract

This paper describes a novel methodology for development of real-time control design and implementation of an enhanced bang-bang controller with particular emphasis on student use in a laboratory environment. The students designed and implemented their controller using a dSPACE DS1104 digital signal processor (DSP)-based data acquisition control (DAC) system, and MATLAB/Simulink environment. The controller is implemented in real-time, using the position control of a brushless drive system as a testbed. Experimental results show that the improved bang-bang controller produces adequate control performance, particularly in handling nonlinearities and external disturbances. The real-time design of the controller is integrated with previously taken lectures in linear control systems course offered every spring semester. The paper also presents a hardware platform used during the course.

Introduction

Since James Watt developed his centrifugal governor for steam engine speed control in the eighteenth century, automatic control has become increasingly important in the advancement of science and engineering, and has applications in most areas of technology1. A control system is defined as a device or combination of devices which regulates the behavior of other devices or systems. Control systems enable optimal performance of dynamic systems and increased productivity. There are several types of controllers which are classified by their control action. These include but are not limited to stair logic, proportional plus integral, proportional plus integral plus derivative, dual-loop, bang-bang, etc. The bang-bang controller, also known as the on/off controller is very useful in the control of non-linear digital systems which make decisions based on target and threshold values and decides whether to turn the system on or off. The eighteenth century engineer proposed a simple version of the bang-bang controller. He proposed a contrivance whereby a horse pulling a cart, mill, etc. would activate an automatic goad which would prick him if his speed was lower than some favorable limit until a satisfactory speed was reached2. Despite the simplicity of the controller, it has many useful applications, such as temperature control in a furnace or thermostat, motor switching control3 and impact control in robots4. The relative effectiveness of bang-bang controllers versus linear controllers was investigated by comparison to human behavior in an experiment which investigated the tendency of human operators to behave in bang-bang fashion when controlling some high-order systems when a linear alternative was available5. It was concluded that for the class of systems for which fine motor control about the referrence is unnecessary, bang-bang control is more intuitive and can be performed without sacrificing performance.

In response to concerns that the study of control systems is too dependent on abstract mathematical theory and not enough emphasis on “hands-on” projects related to current industrial technology 6, an increasing number of universities have introduced laboratory courses which utilize state of the art technology tools to solve relevant real world problems. Many of the undergraduate courses in the Mechanical Engineering Department at the Dutch University

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Rubaai, A., & Chawla, R., & Cannon, J. (2008, June), Laboratory Implementation Of Bang Bang Controller Based Motor Drive Module For Modeling And Control Courses Paper presented at 2008 Annual Conference & Exposition, Pittsburgh, Pennsylvania. 10.18260/1-2--3423